Increasingly, unmanned aerial vehicles (UAVs) are used for surveying areas in search of a specific object, mapping, compiling an orthophotomap, or a three-dimensional terrain model, as well as for processing agricultural fields. At present, the development of algorithms for constructing a trajectory that covers a certain area and takes into account the limited energy resource on board the UAV remains an urgent task. The paper proposes an algorithm for calculating the trajectory for uniform coverage of the territory in the form of a polygon, which provides a complete study of the site by the UAV technical vision system, taking into account its parameters. The paper presents an analysis of existing algorithms for planning the coverage trajectory and proposes a new algorithm that takes into account obstacles in the surveyed area. The resulting trajectory is optimized by reducing the number of maneuvers and smoothing them out. As a result of the experiments, the flight time of the UAV along the trajectories calculated by the developed method on a site with an area of 950,000 m2 was reduced by 10% compared to the flight time along the trajectory calculated by the standard algorithm.
Development of an Algorithm for Coverage Path Planning for Survey of the Territory Using UAVs
Smart Innovation, Systems and Technologies
2023-02-24
15 pages
Article/Chapter (Book)
Electronic Resource
English
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