Abstract
With the growing demand for automation in agriculture,industries increasingly rely on drones to perform crop monitoring and surveillance.In this regard,fixed-wing unmanned aerial systems(UASs)are viable platforms for scanning a large crop field,given their payload capacity and range.To achieve maximum coverage without landing for battery replacement,an algorithm for producing a minimal required energy survey path is essential.Hence,an energy-aware coverage path planning algorithm is proposed herein.The constraints for a fixed-wing UAS to fly at low altitudes while achieving full coverage of the crop field are first analyzed.Then,the full path is decomposed into straight-line and U-turn primitives.Finally,an algorithm to calculate a combination of straight-line segments and U-turns is proposed to obtain the path with minimum required energy consumption.The genetic algorithm is used to efficiently determine the order of the straight-line paths to traverse.Case studies show that the proposed algorithm can produce planning results for a convex-polygon-shaped crop field.
基金项目
Natural Sciences and Engineering Research Council of Canada(NSERC)Discovery Grant(RGPIN-2023-05148)
5G-Enabled Trustworthy Common Operational Picture with Edge Server Data Engine(5G-TCOP)(10037356 MN3-026)
维普
万方数据