Synthesis of the trajectory of the flight of an agricultural UAV

Abstract

The urgency of the work is that the use of small UAVs in agriculture, equipped with means of monitoring and small-sized seed systems, increases the quality and accuracy of the implementation of technological operations. More and more farmers are resorting to UAV and related software.The paper considers the use of UAVs in the agricultural sector, namely the introduction of biological remedies. The proposed algorithm for choosing a flight path is also presented, taking into account the minimum radius of a certain unmanned aerial vehicle and achieving the maximum effective spraying of the trichogram.The scientific novelty of the results consists in substantiating the method of flying the field and finding the shortest path using OpenSource APM Planner.The basis is taken by the Dubing's trajectory. This trajectory is a flat curve of limited curvature. Parametrizating the curves of the arc length, we can put this problem geometrically. We fix two points on the plane and two single vectors applied respectively at these points. We need to find a curve in a plane that emanates from the first point with the first vector of velocity and enters the second point with a second velocity vector having a curvature bounded above the given constant and the shortest among all such curves.The total trajectory of flight L consists of N-1 trajectories between two points l. The algorithm for selecting a trajectory with a minimum length between two points is the following:• Circles whose radius is equal to, is equal to the minimum radius of UAV turning. These circles must touch the vectors of the velocity of the initial and the end point;• Every kind of tangent to these circles is constructed, and lines are drawn that are tangent to the circles of both points;• The shortest trajectory is selected that contains the circle segment, line segment, and second-segment segment.The practical significance of the results obtained is the development of software that implements the flight path algorithm. The results of the thesis can be used by enterprises, farmers, firms, etc.