Energy-Optimal Trajectory-Based Traveling Salesman Problem for Multi-Rotor Unmanned Aerial Vehicles

The trajectory-based traveling salesman problem represents an extension of the classical traveling salesman problem, aimed at determining the most optimal trajectory that passes through a designated set of points. This paper introduces a novel formulation, termed the Energy-Optimal Trajectory-Based Traveling Salesman Problem (EOTB-TSP), which is grounded in an innovative energy assessment model. This model takes into account the intricate dynamics of unmanned aerial vehicles (UAVs). In addition, the EOTB-TSP is cast as a bilevel optimization challenge. To tackle this complex problem, we introduce a modified genetic algorithm specifically tailored for its resolution. To validate the effectiveness of our proposed approach, we conduct a series of experiments and apply it to real-world scenarios. Our evaluation and comparative analyses unequivocally demonstrate the high efficiency of our method in minimizing energy consumption.