Received: 10-01-2024
Accepted: 23-05-2024
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Establishing Flight Trajectory for UAV Spraying in Agriculture
,
Nguyen Hoang Nam
2
Abstract
This paper presented route planning method for agricultural spraying UAV that ensures the requirements of full coverage, low overlap, no leaving-out, and no spraying outside the working area. The routes were determined based onlatitudes/longitudes in the geographical grid, which can be applied to any location on earth. The algorithm was validated by simulation on Matlab/Simulink combined with QGroundControl software. Simulation results show that the main lines were routed parallelly with a distance 2.73% smaller than the spraying width of the UAV. A margin reduction of the working area before route planning helped limit pesticides being sprayed outside the operational area, avoiding pesticide waste and environmental pollution.
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