Efficient Bi-Objective UAV Inspection Path Planning with Dynamic Task
Yunsen Zhang, Pengfei Yu, Zhengzheng Yang, Zhiwei Hou · 2025
The rapid development of unmanned aerial vehicles (UAV s) has enabled their extensive application in fields such as power grid inspection and pipeline monitoring, transforming conventional inspection methodologies. In our article, we are interested in UAV inspection Bi-Objective path planning problems to simultaneously optimize two objectives such as path length and impact degree. We draw inspiration from existing multi-objective path planning algorithms, specifically an advanced algorithm based on New Approach to Multi-Objective A * (NAMOA *) and Bi-Objective path pruning techniques. We proposed the Inspection Bi-Objective A *(IBOA *), tailored to the needs of Bi-Objective UAV inspection path planning. Furthermore, to accommodate a dynamic inspection point, we introduce the Dynamic Inspection Point Bi-Objective A *(DIPBOA *), which efficiently computes the approximate Pareto-Optimal set based on previous solutions. Experimental results confirm the practicality and enhanced performance of IBOA * and DIPBOA *, highlighting their potential for UAV inspection tasks.