Path Planning for UAV to Collect Sensors Data Based on Spiral Decomposition.

For WSNs deployed in remote tactical edge networks without available infrastructure, using UAVs to collect sensors data can greatly extend sensor networks life. Due to constraints such as energy consumption and communication delay, rapid path planning is necessary for UAVs flight. This paper mainly proposes a new path planning algorithm based on spiral decomposition, which is named as Spiral Path Planning (SPP) algorithm. Besides, the paper improves the existing FPPWR algorithm. Simulation proves SPP is more suitable for a UAV to collect data from sensors nodes evenly distributed in a circle area. Compared with FPPWR, the path SPP plans is shorter, and runtime is less when the number of sensor nodes is small. [ABSTRACT FROM AUTHOR]