Turning path planning for UAV in region coverage with scanline
Min Wan · Systems engineering and electronics · 2014
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.