Practical Obstacle Avoidance Path Planning for Agriculture UAVs

摘要

This research deals with the coverage path problem (CPP) in a given area with several known obstacles for agriculture Unmanned Aerial Vehicles (UAVs). The work takes the geometry characteristics of the field and obstacles into consideration. A practical method of the coverage path planning process is established. An obstacle avoidance path planning is used to find a coverage path for agriculture UAVs. The method has been tested with an Android application and is already applied in reality. The results turn out that the method is complete for this kind of coverage path planning problem.