International Journal of Mathematical, Engineering and Management Sciences

ISSN: 2455-7749

Route Planning of Unmanned Aerial Vehicles under Recharging and Mission Time Constraints

Route Planning of Unmanned Aerial Vehicles under Recharging and Mission Time Constraints

Kriangsak Phalapanyakoon
Department of Computer Engineering, King Mongkut’s University of Technology, Thonburi, Bangkok, Thailand.

Peerapon Siripongwutikorn
Department of Computer Engineering, King Mongkut’s University of Technology, Thonburi, Bangkok, Thailand.

DOI https://doi.org/10.33889/IJMEMS.2021.6.5.087

Received on May 06, 2021
Accepted on September 27, 2021


This paper investigates the problem of route planning for rechargeable unmanned aerial vehicles (UAV) under the mission time constraint in cases where more than one trip per round is required due to limited battery capacities. The goal is to determine the number of UAVs to be deployed and the flying paths that minimize the total mission cost. Unlike previous works, the electric cost incurred by UAV recharging proportional to actual flying distances is incorporated into our model. The problem is formulated as a mixed-integer programming model to minimize the sum of electric charging cost, the UAV usage cost, and the penalty cost from the violation of the mission time constraint. Extensive numerical experiments are conducted to examine the integrity and performance of the proposed model under various model parameters and deployment scenarios in grid areas and a real terrain area. The optimal solutions can be obtained for small-scale problem instances in a reasonable runtime. For large-scale problems, only feasible solutions can be obtained due to limited computational resources.

Keywords- Unmanned aerial vehicle (UAV), Route planning, Rechargeable unmanned aerial vehicles, Mission time constraint, Mixed-integer programming (MIP).


Phalapanyakoon, K., & Siripongwutikorn, P. (2021). Route Planning of Unmanned Aerial Vehicles under Recharging and Mission Time Constraints. International Journal of Mathematical, Engineering and Management Sciences, 6(5), 1439-1459. https://doi.org/10.33889/IJMEMS.2021.6.5.087.

Conflict of Interest

The authors confirm that there is no conflict of interest to declare for this publication.


This research is supported by the Petchra Pra Jom scholarship from King Mongkut’s University of Technology Thonburi.


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