万顺飞,祖家奎,刘世隆.农用植保无人直升机飞行航路的自动规划算法与实现[J].电子测量技术,2016,39(4):36-41
农用植保无人直升机飞行航路的自动规划算法与实现
Route planning algorithm and implementation for Eppo unmanned helicopter
  
DOI:
中文关键词:  植保无人直升机 凹凸多边形识别 图形分割航路规划
英文关键词:Eppo unmanned helicopter  the concave and convex polygons identifying  graphic division  route panning
基金项目:南京航空航天大学基本科研业务费专项科研(NS2013031)资助项目
作者单位
万顺飞 南京航空航天大学自动化学院南京210016 
祖家奎 南京航空航天大学自动化学院南京210016 
刘世隆 南京航空航天大学自动化学院南京210016 
AuthorInstitution
Wan Shunfei College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China 
Zu Jiakui College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China 
Liu Shilong College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China 
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中文摘要:
      随着农业机械化和现代化的发展,微小型无人直升机在农业植保领域的应用日益得到重视,其飞行控制技术是农用植保无人直升机的核心技术。针对不规则形状的农田,如何自动、高效地规划出飞行航路,是保证无人直升机农业自动化应用和提高商业应用效益的关键技术之一。本文针对农用植保领域对微小型无人直升机飞行轨迹的技术需求,利用图形学理论,重点研究了不规则农田的辨识、最优航路设计等规划算法,并实现了规划算法的相应函数模块和应用软件。该软件在工程应用中得到了验证,取得了较好的应用效果。
英文摘要:
      Unmanned helicopter is becoming more and more popular in the field of agricultural plant protection, with the development of agricultural mechanization and modernization. And flight control technology is the core of unmanned helicopter. In view of the irregular shape of farmland, designing the flight route automatically and efficiently is one of the key technologies, which make sure the application of unmanned helicopter in the field of agriculture and improvement of commercial efficiency. With technical requirements of unmanned helicopter flight trajectory in agricultural plant field, the author of this paper researched irregular farmland identification and the optimal route design algorithm using the theory of graphics, and realized the corresponding function module and application software. The software has been proved in the engineering application, and achieved good application effect.
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