Coverage Flight Path Planning for Multi-rotor UAV in Convex Polygon Area

Coverage flight path planning for multi-rotor UAV in convex polygon area is studied. When given the two known conditions that the ground scan width of multi-rotor UAV sensor and the anticlockwise vertexes sequence of the convex polygon area, a "Geometric-vector algorithm" is proposed to calculate the flight points of the UAV accurately, and then the UAV can complete the coverage of convex polygon area by flying in turn according to the calculated flight points. The detailed solution process of flight points is given, the programming, simulation and real flight experiment are carried out for the proposed method, and the results proves that the method in solving the problem of coverage flight path planning for multi-rotor UAV in convex polygon area is effective and versatile. And through comparative analysis, for the problem of Multi-UAV common coverage convex polygon area, the Multi-UAV task allocation based on the total flight path length has better effect.