Application of Circular Limit Cycles for Generation of Uniform Flight Paths to Surveillance of a Region by UAV
A. Hakimi, Tahereh Binazadeh · Journal of Electrical and Electronic Engineering · 2015
This paper considers the problem of generating the flight paths for uniform surveillance of a region, using the limit cycle concept. The generated flight path covers whole area of a circle with desirable radius and needed density of the trajectories. Unmanned Areal Vehicles (UAVs) by tracking such trajectories are able to get the precise aerial photos or movies (or another task which needs such trajectories). The proposed real-time flight path is divided to three main phases; in the first phase, the UAV takes off from the launch station and moves to the near of the center of the considered circular sightly area for getting the aerial photos or movies. This phase is also done based on the limit cycle navigation method to generate the safe trajectory against the obstacles (obstacle avoidance using the limit cycle navigation). In the second phase, the flying object tracks a uniform helicoidal trajectory to reach the circular limit cycle, to scan a circular area, completely. In the last phase, when the scanning of the considered area has been accomplished, the UAV comes back to the launch station on the trajectory that produced by a similar procedure of the first phase. Finally, some simulations are carried out to show the flight path generated by this idea.