| Summary: | A surveillance system is one of the most interesting research topics for an unmanned aerial vehicle (UAV). However, the problem of planning an energy-efficient path for the surveillance purpose while anticipating disturbances and predicting energy consumptions during the path tracking is still a challenging problem in recent years. The optimal path planning and the disturbance rejection control for a UAV surveillance system are investigated in this paper. A trained and tested energy consumption regression model is used to be the cost function of an optimal path planning scheme, which is designed from a clustered 3D real pilot flight pattern with the proposed K-agglomerative clustering method, and is processed via A-star and set-based particle-swarm-optimization (S-PSO) algorithm with adaptive weights. Moreover, an online adaptive neural network (ANN) controller with varied learning rates is designed to ensure the control stability while having a reliably fast disturbance rejection response. The effectiveness of the proposed framework is verified by numerical simulations and experimental results. By applying the proposed optimal path planning scheme, the energy consumption of the optimal path is only 72.3397 Wh while the average consumed energy of real pilot flight data is 96.593Wh. In addition, the proposed ANN control improves average root-mean-square error (RMSE) of horizontal and vertical tracking performance by 49.083% and 37.50% in comparison with a proportional-integral-differential (PID) control and a fuzzy control under the occurrence of external disturbances. According to all of the results, the combination of the proposed optimal path planning scheme and ANN controller can achieve an energy-efficient UAV surveillance systems with fast disturbance rejection response.
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