Rotor unmanned aerial vehicle coverage search flight path planning method for polygonal region having no-fly zone

The invention relates to a rotor unmanned aerial vehicle coverage search flight path planning method for a polygonal region having a no-fly zone, wherein the method comprises the steps: step 1, determining a coverage direction, wherein the direction from a polygon width-corresponding top point to ed...

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Hauptverfasser:	WANG ZHU, LONG TENG, WEN YONGLU, LIU LI
Format:	Patent
Sprache:	chi ; eng
Schlagworte:	GYROSCOPIC INSTRUMENTS MEASURING MEASURING DISTANCES, LEVELS OR BEARINGS NAVIGATION PHOTOGRAMMETRY OR VIDEOGRAMMETRY PHYSICS SURVEYING TESTING
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creator	WANG ZHU LONG TENG WEN YONGLU LIU LI
description	The invention relates to a rotor unmanned aerial vehicle coverage search flight path planning method for a polygonal region having a no-fly zone, wherein the method comprises the steps: step 1, determining a coverage direction, wherein the direction from a polygon width-corresponding top point to edge is a coverage direction for realizing shortest-path polygon region coverage searching; step 2, transforming a coordinate, taking an X axis of a new coordinate system (OX'Y') as a coverage direction, and making an origin point of the new coordinate system (OX'Y') the same as an origin point of an original coordinate system; step 3, according to the transformed to-be-covered polygon region and obstacle, carrying out Boustrophedon searching unit decomposition; step 4, determining an alternative optical grating line search flight path set of each searching unit; step 5, determining the sequence and the flight path of each searching unit of the unmanned aerial vehicle based on a greedy strategy; and step 6, carrying
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subjects	GYROSCOPIC INSTRUMENTS MEASURING MEASURING DISTANCES, LEVELS OR BEARINGS NAVIGATION PHOTOGRAMMETRY OR VIDEOGRAMMETRY PHYSICS SURVEYING TESTING
title	Rotor unmanned aerial vehicle coverage search flight path planning method for polygonal region having no-fly zone
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