Affiliation:
1. College of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
2. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China
Abstract
In the coverage path planning (CPP) problem of an agricultural spraying UAV, a margin reduction algorithm was designed first to address special situations such as ditches and channels within the operational terrain. Regarding the particularity of a concave polygon area, an algorithm based on topology mapping was developed to judge the concave points of the concave polygon area, and the path with special concave points was scheduled. For the evaluation of the pesticide spraying mission, the flight distance and extra coverage ratio were the most appropriate optimization objectives. Therefore, this paper selected these two indicators to form a fitness function, then found the optimal operating heading angle of the mission after iterative optimization. Finally, the CPP for an agricultural spraying UAV in an arbitrary polygon area under the optimal heading angle was realized. The simulation and flight test results showed that the CPP method could significantly shorten the flight distance and reduce additional coverage, then avoid energy consumption and pesticide waste. In addition, the engineering practicability of the method was verified in this paper. This method can be popularized and widely used for an agricultural spraying UAV, which has great engineering application value.
Funder
Funding of National Key Laboratory of Rotorcraft Aeromechanics
Reference33 articles.
1. Research on Transportation Path Planning for Logistics UAV Based on Improved A* Algorithm;Xu;J. East China Jiaotong Univ.,2019
2. Liu, H. (2023, January 2–4). A Novel Path Planning Method for Aerial UAV based on Improved Genetic Algorithm. Proceedings of the 2023 Third International Conference on Artificial Intelligence and Smart Energy (ICAIS), Coimbatore, India.
3. Liu, G., Shu, C., Liang, Z., Peng, B., and Cheng, L. (2021). A modified sparrow search algorithm with application in 3D route planning for UAV. Sensors, 21.
4. A multi-objective multi-memetic algorithm for network-wide conflict-free 4D flight trajectories planning;Yan;Chin. J. Aeronaut.,2017
5. Unmanned aerial vehicle trajectory optimization for executing intelligent tasks;Cowlagi;J. Guid. Control Dyn.,2018