Title :
U-turn optimization for three-dimensional area coverage of UAV
Author :
Hai Chen ; KaiFeng He
Author_Institution :
China Aerodynamics R&D Center, Mianyang, China
Abstract :
U-turn is a common and typical turn process in area coverage of Unmanned Aerial Vehicle (UAV) in which the flying path of UAV projection and motion path of camera footprint center do not coincide with each other. This paper investigates the U-turn optimization for three-dimensional area coverage of UAV. Firstly, the relationship between UAV attitude and camera footprint is studied. And some related formulas concerning the camera footprint of UAV are given for different maneuvers which can be used to obtain the parameters of camera footprint and coordinate transformation between UAV centroid and footprint center. Then the differences paths of UAV projection and camera footprint are discussed in line sweep coverage approach. Finally, The U-turn optimization of UAV which contains the distances and duration is analyzed in three different cases.
Keywords :
autonomous aerial vehicles; cameras; motion control; optimisation; path planning; UAV attitude; UAV centroid; UAV projection; camera footprint center; coordinate transformation; flying path; line sweep coverage approach; motion path; three-dimensional area coverage; turn process; u-turn optimization; unmanned aerial vehicle; Acceleration; Cameras; Fuels; Optimization; Turning; Unmanned aerial vehicles; Area Coverage; Camera Footprint; Optimal Path; Turning Motion; Unmanned Aerial Vehicle (UAV);
Conference_Titel :
Mechatronics and Automation (ICMA), 2015 IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4799-7097-1
DOI :
10.1109/ICMA.2015.7237464
