A Multi-Objective Optimization Approach to Coverage Path Planning of Agricultural Drone

Authors

Keywords:

agricultural drones, multi- objective optimization, coverage path planning, precision agriculture

Abstract

Agricultural drones have been widely used in precision agriculture operations due to their high performance and adaptability to outdoor tasks, such as spraying, mapping, and monitoring. Nevertheless, mission planning remains challenging due to the constraints imposed by operational performance under real field conditions. In this work, a novel multi-objective optimization approach for mission planning of agricultural spraying drones is proposed. This approach contemplated an off-line coverage path planning strategy that simultaneously minimizes total mission time and energy consumption. The parameters that define the coverage path are optimized while considering the operational requirements of the spraying tasks. The framework is applied to a real case study using the DJI AGRAS T10 drone in a crop field. The results obtained from the multi-objective optimization demonstrate significant performance gains in terms of reduction in battery energy consumption of up to 14.2% and a mission time decrease of 9.5% when compared to conventional geometric methods. Thus, the proposed method potentially reduces both the drag energy and the mission time. These findings highlight the potential of multi-objective optimization as a decision-support tool to improve the efficiency and sustainability of drone-based spraying operations in agriculture.

 

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Author Biographies

Fabian Andres Lara-Molina, Universidade Federal do Triângulo Mineiro

Fabian Lara received a degree in Mechatronics Engineering from Universidad Militar Nueva Granada in 2005, and a Master’s and PhD in Mechanical Engineering from the State University of Campinas (UNICAMP) in 2008 and 2012, respectively. He is currently an Associate Professor in the Department of Mechanical Engineering at the Federal University of Triangulo Mineiro (UFTM), Uberaba, MG, Brazil. His research interests lie in Mechanical Engineering, with a primary focus on the dynamics and control of mechanical systems.

Fran Sergio Lobato, Federal University of Uberlândia

Fran Sergio Lobato was born in Araguari, Brazil, in 1976. He received his degree in Chemical Engineering, a Master of Science in Chemical Engineering, and a Doctorate in Mechanical Engineering from the Federal University of Uberlandia, Brazil, in 2001, 2004, and 2008, respectively. In 2009, he worked at the Federal University of Sao Joao del-Rei, Brazil. Since 2010, he has been a professor at the School of Chemical Engineering, Federal University of Uberlandia. His current research interests include bio-inspired optimization algorithms, optimal control theory, uncertainty analysis, heat transfer problems, and the formulation and solution of inverse problems.

Maicon Fábio Appelt , Fertirriga

Maicon Appelt received a degree in Agronomy from the Federal University of Vicosa in 2012 and a Master’s degree in Plant Production from the same institution in 2014. He is currently a Research Engineer at Fertirriga, located in Rio Paranaiba, MG, Brazil. His professional experience includes work in pastures, forage production, soil fertility, and water resources, with a particular emphasis on fertigation.

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Published

2026-04-09

How to Cite

Lara-Molina, F. A., Lobato, F. S., & Appelt , M. F. . (2026). A Multi-Objective Optimization Approach to Coverage Path Planning of Agricultural Drone. IEEE Latin America Transactions, 24(5), 445–455. Retrieved from https://latamt.ieeer9.org/index.php/transactions/article/view/10298

Issue

Vol. 24 No. 5 (2026): Ordinary Issue

Section

Computing