一种无人机覆盖路径规划方法

L. H. Nam, Loulin Huang, Xue Jun Li, Jianfeng Xu
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引用次数: 55

摘要

提出了一种计算四旋翼无人机有效覆盖轨迹的离线飞行规划器。规划包括任务定义、自动路径规划和轨迹生成三个步骤。提议的规划器,作为一个有用的工具,允许无人机操作员为任何特定任务轻松定义和生成覆盖轨迹。所得到的轨迹可以被发送到带有轨迹跟踪控制器的四旋翼飞行器,用于需要完整区域覆盖的任务。
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An approach for coverage path planning for UAVs
In this paper, an offline flight planner that computes an efficient coverage trajectory for a quad-rotors UAV is presented. The planner consists of three steps: mission definition, automatic path planning and trajectory generation. The proposed planner, as a useful tool, allows an UAV operator to easily define and generate a coverage trajectory for any specific task. The resultant trajectory can be dispatched to a quad-rotors with trajectory tracking controller for the missions that require a complete area coverage.
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