UAV track planning algorithm in concave polygonal area based on remote sensing mission

For the needs and characteristics of remote sensing observing. We proposes an unmanned aerial vehicle (UAV) track planning algorithm based on remote sensing tasks in concave polygonal areas. The algorithm aims to ensure UAV’s non-collision and full area coverage with shorter total time consumption. According to remote sensing image acquisition characteristics, the UAV track planning is carried out by unified main flight direction and fixed-point shooting. The UAV track optimization under the selected main flight direction is obtained through five steps: route segmentation point calculation, polygon division, UAVs assignment, fragment polygon merging and UAVs reassignment, and waypoint information calculation. The global optimal solution is obtained by selecting the main direction of the edges of the concave polygon and its convex hull, respectively. The experimental results show that the algorithm can reasonably assign UAVs and carry out track planning, which is more efficient and more applicable than traditional methods.