CAJ | 학술논문

针对无人机采用扫描线实现区域覆盖的方式中，未充分考虑无人机最小转弯半径的问题，提出了两种可行的转弯方式，即Ω形转弯和α形转弯，并对两种方式的转弯时机、半径和航迹进行了分析计算。理论分析证明：对于同一转弯方式，无人机的转弯半径越小则规划航迹越短；在相同条件下，无人机执行Ω形转弯的路径要少于α形转弯的路径。实例分析表明：当无人机最小转弯半径小于扫描线间隔的一半时，Ω形转弯优于常规半圆转弯方式，且无人机最小半径越小，Ω形转弯的路径越短；当最小转弯半径大于扫描线宽度的一半时，常规半圆转弯方式已不能满足需要，而Ω形转弯仍然有效。
침대무인궤채용소묘선실현구역복개적방식중，미충분고필무인궤최소전만반경적문제，제출료량충가행적전만방식，즉Ω형전만화α형전만，병대량충방식적전만시궤、반경화항적진행료분석계산。이론분석증명：대우동일전만방식，무인궤적전만반경월소칙규화항적월단；재상동조건하，무인궤집행Ω형전만적로경요소우α형전만적로경。실례분석표명：당무인궤최소전만반경소우소묘선간격적일반시，Ω형전만우우상규반원전만방식，차무인궤최소반경월소，Ω형전만적로경월단；당최소전만반경대우소묘선관도적일반시，상규반원전만방식이불능만족수요，이Ω형전만잉연유효。
In flight path planning for unmanned aerial vehicle (UAV)by scanline to achieve region cover-age,the minimum turning radius is not fullly considered.To solve this problem,two feasible turning methods, which are named as Ω-turning andα-turning,are proposed.The turning occasion,radius and path are also ana-lyzed and calculated.Theoretical analysis shows that for the same turning method,the smaller the turning radi-us is,the shorter the UAV’s planning path is;under the same conditions,the path length of Ω-turning is less than that ofα-turning.Example shows that when the UAV’s minimum turning radius is less than half the spac-ing of the scanlines,the path length of Ω-turning is shorter than the path length of the conventional semi-circle turning;when the UAV’s minimum turning radius is greater than half the spacing of the scanlines,the conven-tional semi-circle turning is unavailable but Ω-turning is still effective.