# EAOA: Energy-Aware Grid-Based 3D-Obstacle Avoidance in Coverage Path Planning for UAVs
## 4 Evaluation Metrics and Results
### Results  
* Scenario 1: The area of interest is 100 m\(\times\) 115 m. The top view grid is 10 rows\(\times\) 6 columns (see Figure 10). The marked red cells contain obstacles. The total trajectory path will be compared to the one obtained in the basic scenario. For the dimensions of the frame, we assume \(F\) is 16.66 m\(\times\) 15 m. Each grid-cell in \(F\) is 0.69\(\times\) 0.5, \(\Gamma\) is 40 rows\(\times\)24 columns. We assume that the drone is located at height 10.5 m and faces cell (12,13) in \(\Gamma\). Below, we present the heatmaps and the drone's position at each obstacle. Figure 10: Area of Interest in [4]. **- First, Obstacle:** We assume having a palm tree of height 15 m. The heatmap of the front area is shown in Figure 4. The drone's new position is the center of the dashed group in Figure 7b. The drone thus chooses to go down through the cell solution by performing a horizontal left turn by 3 and a vertically down turn by \(3^{\circ}\), then cuts a distance of 11.5744 m. This distance is between initial drone position and the new drone's position (\(S_{position}\)). To get to initial the height behind the tree, it does \(6^{\circ}\) vertically back up, crossing the same distance. **- Second Obstacle** We assume having a signboard of height 13 m. The heatmap of the front area is shown in Figure 11. The projection of the drone is M(12,13). Figure 12 shows the heatmap after the subdivision. The nearest border cell is (12,5). The drone passes through the cell by performing a vertical upward turn by \(16^{\circ}\), then cuts a distance of 11.985 m followed by a vertical turn down of \(33^{\circ}\). Then, it returns to the initial height behind the obstacle. The red cell represents the solution cell (i.e., the final drone position \(S_{position}\)). **- Third Obstacle:** Assume having a tree of height 11.6 m. The heatmap is shown in Figure 13. The projection of the drone position is the red cell (12,13). The nearest border and solution cells are shown in Figure 14. The dashed red box represents the solution cell (i.e., the final drone position \(S_{position}\)). The drone will pass through the solution cell. It performs a horizontal turn by \(2^{\circ}\), then turns upward vertically by \(2^{\circ}\) cutting a distance of 11.506 m. Then, it turns vertically down \(3^{\circ}\) to return to the initial height behind the obstacle and another turn to get back to the initial direction. Figure 11: Heatmap with signboard as obstacle (second obstacle). Figure 12: Subdivision for the grid Box \(G\) for the second obstacle. **- Fourth obstacle**: Assuming the obstacle is part of a building, the heatmap is shown in Figure 15. The projection of the drone position is cell (12,13). After the subdivision, the cell (3,13) is selected solution (\(S_{position}\)). The red cells represent the boundaries set \(B_{m}\), and the blue cells represent the solution cells \(S_{n}\). The final drone position is represented in Figure 16 (the red box). The drone will pass through the cell. It performs a horizontal turn by 28\({}^{\circ}\)cutting a distance of 13.07 m. Then, it performs a horizontal turn by 57\({}^{\circ}\). After that, it returns to the initial path direction. Figure 14: Subdivision for the grid Box \(G\) for the third obstacle. Figure 13: Tree heatmap (third obstacle). Figure 4.0 Heatmap of the frame containing part of a building. At the end of the mission, the resulted path by the basic approach is presented in Figure 17a. The total path obtained by our work is shown in Figure 17b. The paths are seen from the top view. Figure 18 shows the total trajectory path in our work seen from a different view. We compared our trajectory plan to the basic approach. The UAV speed is considered 8 m/s, and the UAV rotation rate is 30 degree/s. Table 1 shows 13.20% gain in completion time and 10.37% gain in energy by EAOA over the basic approach. It should be noted that the 3D path is 4.04% shorter than the 2D path in the basic approach with reduction of 25% in the total turn angles.