{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,7,30]],"date-time":"2025-07-30T15:02:17Z","timestamp":1753887737109,"version":"3.41.2"},"reference-count":14,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2021,10,18]],"date-time":"2021-10-18T00:00:00Z","timestamp":1634515200000},"content-version":"vor","delay-in-days":290,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62002104"],"award-info":[{"award-number":["62002104"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Complexity"],"published-print":{"date-parts":[[2021,1]]},"abstract":"<jats:p>Practical applications of microaerial vehicle face significant challenges including imprecise localization, limited on\u2010board energy, and motion uncertainty. This paper focuses on the latter two issues. The core of proposed energy\u2010optimal path planning algorithm is an energy consumption model deriving from real measurements of a specific quadrotor and utilizing a 2D Gaussian distribution function to simulate the uncertainty of random drift. Based on these two models, we formulate the optimal path traversing the 3D map with minimum energy consumption using a heuristic ant colony optimization. Multiple sets of contrast experiments demonstrate the effectiveness and efficiency of the proposed algorithm.<\/jats:p>","DOI":"10.1155\/2021\/9994680","type":"journal-article","created":{"date-parts":[[2021,10,19]],"date-time":"2021-10-19T14:04:31Z","timestamp":1634652271000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Energy\u2010Optimal 3D Path Planning for MAV with Motion Uncertainty"],"prefix":"10.1155","volume":"2021","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3974-0690","authenticated-orcid":false,"given":"Yamin","family":"Li","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bowen","family":"Sun","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ping","family":"Xia","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6297-5722","authenticated-orcid":false,"given":"Yang","family":"Yang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2021,10,18]]},"reference":[{"key":"e_1_2_11_1_2","doi-asserted-by":"publisher","DOI":"10.1109\/tcyb.2018.2808321"},{"key":"e_1_2_11_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/tii.2019.2958183"},{"key":"e_1_2_11_3_2","doi-asserted-by":"crossref","unstructured":"VempralaS.andSaripalliS. Monocular vision based collaborative localization for micro aerial vehicle swarms Proceedings of the 2018 International Conference on Unmanned Aircraft Systems (ICUAS) June 2018 Dallas Marriott TX USA 315\u2013323.","DOI":"10.1109\/ICUAS.2018.8453412"},{"key":"e_1_2_11_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/jiot.2019.2960631"},{"key":"e_1_2_11_5_2","doi-asserted-by":"publisher","DOI":"10.1287\/opre.11.6.972"},{"key":"e_1_2_11_6_2","unstructured":"FrancoC. D.andButtazzoG. Energy-aware coverage path planning of UAVs Proceedings of the 2015 IEEE International Conference on Autonomous Robot System and Competitions April 2015 Portugal 111\u2013117."},{"key":"e_1_2_11_7_2","doi-asserted-by":"crossref","unstructured":"Al-SabbanW. H. GonzalezL. F. andSmithR. N. Wind-energy based path planning for unmanned aerial vehicles using markov decision processes Proceedings of the 2013 IEEE International Conference on Robotics and Automation (ICRA) May 2013 Karlsruhe Germany 784\u2013789.","DOI":"10.1109\/ICRA.2013.6630662"},{"key":"e_1_2_11_8_2","doi-asserted-by":"publisher","DOI":"10.1145\/3423165"},{"key":"e_1_2_11_9_2","unstructured":"Meet Kinect for Windows:https:\/\/developer.microsoft.com\/en-us\/windows\/kinect."},{"key":"e_1_2_11_10_2","doi-asserted-by":"publisher","DOI":"10.3390\/app9214552"},{"key":"e_1_2_11_11_2","unstructured":"The Crazyflie Nano Quadcopter:https:\/\/www.bitcraze.io\/crazyflie\/."},{"key":"e_1_2_11_12_2","doi-asserted-by":"crossref","unstructured":"GanganathN.andChengC. T. A 2-dimensional ACO-based path planner for off-line robot path planning Proceedings of the 2013 International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery October 2013 Beijing China 302\u2013307.","DOI":"10.1109\/CyberC.2013.59"},{"key":"e_1_2_11_13_2","unstructured":"DorigoM. Optimization learning and natural algorithms 1992 Ph.D. dissertation."},{"key":"e_1_2_11_14_2","first-page":"93","article-title":"Parameter establishment of an ant system based on Uniform design","volume":"21","author":"Huang Y. Q.","year":"2006","journal-title":"Control and Decision"}],"container-title":["Complexity"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2021\/9994680.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2021\/9994680.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1155\/2021\/9994680","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,8,9]],"date-time":"2024-08-09T23:22:56Z","timestamp":1723245776000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1155\/2021\/9994680"}},"subtitle":[],"editor":[{"given":"Guanfeng","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"editor","vocabulary":"crossref"}]}],"short-title":[],"issued":{"date-parts":[[2021,1]]},"references-count":14,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2021,1]]}},"alternative-id":["10.1155\/2021\/9994680"],"URL":"https:\/\/doi.org\/10.1155\/2021\/9994680","archive":["Portico"],"relation":{},"ISSN":["1076-2787","1099-0526"],"issn-type":[{"type":"print","value":"1076-2787"},{"type":"electronic","value":"1099-0526"}],"subject":[],"published":{"date-parts":[[2021,1]]},"assertion":[{"value":"2021-03-08","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2021-09-23","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2021-10-18","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"9994680"}}