2014•Systems engineering and electronicsRequires access
Turning path planning for UAV in region coverage with scanline
Min Wan
Open publisher page 1 citations
Abstract
In flight path planning for unmanned aerial vehicle(UAV)by scanline to achieve region coverage,the minimum turning radius is not fullly considered.To solve this problem,two feasible turning methods,which are named asΩ-turning andα-turning,are proposed.The turning occasion,radius and path are also analyzed and calculated.Theoretical analysis shows that for the same turning method,the smaller the turning radius is,the shorter the UAV's planning path is;under the same conditions,the path length ofΩ-turning is less than that ofα-turning.Example shows that when the UAV's minimum turning radius is less than half the spacing of the scanlines,the path length ofΩ-turning is shorter than the path length of the conventional semi-circle turning;when the UAV's minimum turning radius is greater than half the spacing of the scanlines,the conventional semi-circle turning is unavailable butΩ-turning is still effective.