Research On The Algorithm Of UAV Route Planning For Island’s Aerial Photography

With increasingly prominent problems of maritime rights and interests and islandrights protection, and growing demands of island aerial photography and monitoring,the aerial photography by UAV reflects incomparable advantages over satellites andmanned aircraft. Characterized by fast reaction, low energy consumption, highrepeated utilization rate and low altitude flying ability, UAV enjoys broader prospectsof application. Due to irregular shapes, complex terrains and long offshore distance ofisland areas, more special constraints must be considered in UAV aerial photographythan in performing other tasks, resulting in higher and more complex requirements forUAV route planning in aerial photography.With island’s aerial photography as the research target, this paper takesnon-repetitive coverage UAV route planning algorithm for aerial photography as theresearch object, and optimizing the route between landing point and island area andoptimizing the turning route as the main research content. The paper analyses UAV’skinematics through establishing a geocentric coordination system of UAV. With atechnical route of analysis and research of constraints of aerial photography, research,improvement and implementation of boustrophedon algorithm, and optimizationresearch of the Dubins algorithm, a design is made and implemented for UAV routeplanning of island’s aerial photography. Algorithm for UAV route automaticgeneration is integrated with ground control software platform, leading to automaticgeneration of UAV route. The main work and research results of the paper are asfollows:（1） Classified research of constraints for island’s aerial photographyThe paper puts forward the analysis method of constraints suitable for UAVaerial photography of an island through the analysis of the characteristics of themultiple constraints for island’s aerial photography. Flying altitude, angle of turning, speed and other motion parameters are analyzed in the paper in combination withUAV’s motor performance conditions. Moreover, calculation methods of overlappingrate, route spacing and flight spacing are put forward according to task constraints.（2） Research and improvement based on the algorithm of boustrophedonAccording to the characteristics of island’s aerial photography and based on therequirement of non-repetitive coverage area, this paper selects the boustrophedonalgorithm to perform the route coverage planning by comparing several routecoverage planning algorithms for robot. Improvement is made in the boustrophedonbased on the characteristics of UAV so as to make it adapt to the motor performanceand movement characteristics of UAV, thus solving the unicity and impracticability ofUAV coverage route planning algorithm and improving the efficiency of the UAVcoverage route with lower energy consumption.（3） Route optimization based on the Dubins algorithmThe route from UAV landing point to the target area and its turning route in thetarget area are optimized in this paper by studying and applying Dubins algorithm sothat the route is more in line with the motor performance of UAV. In addition, thetotal range and energy consumption are also reduced as a result to ensure flight safety.（4） Research, implementation and system integration of automaticallygenerated UAV route based on VB languageThe algorithm of automatically generated UAV route based on VB language isrealized in the paper, greatly enhancing the efficiency of UAV route planning. Thesystemic integration of automatically generated UAV route for aerial photography onthe ground control software platform will enhance the emergency response capabilityof UAV in combats.