Design Of Quadrotor Drone Flight Path Planning For Farmland Spraying

As a country with a large population,China faces an increasingly complex international situation.Food security is related to national development and strategic layout,and is the top priority of national security.China has 1.8 billion mu of basic farmland,which requires a large amount of labor for plant protection operations.Spraying pesticides completely in a manual way not only wastes a lot of labor costs,but also inefficiencies,and pesticides are very harmful to the human body.In recent years,as a kind of agricultural plant protection machine,the rotary wing drone has attracted more and more attention and application from agricultural workers.However,at present,the manual remote control unmanned plant protection machine is basically used for farmland spraying operations.Manual operation will inevitably have problems such as route deviation,repeated spraying,and missing spraying.As the working time increases,the workload of the operator increases,and these problems will be further highlighted.In this paper,the full coverage path planning method including autonomous obstacle avoidance is designed for the unique maneuvering mode of quadrotor drone.The main research and achievements are as follows:Firstly,according to the track planning indicators,the full-recovery path planning of the "reciprocating" of the quadrotor drone is determined.After analyzing the maneuvering principles of three quadrotor drone turning processes,the energy consumption and the time used have chosen a translation method that is more suitable for the quadrotor drone replacement route.The software simulation of the full coverage method was carried out,and the simulation results were analyzed and explained.On the basis of the full coverage planning method,combined with the mathematical optimization method,the unmanned aircraft return point is planned,so that the drone of the unmanned aircraft is minimized,so as to minimize the fuel consumption of the whole operation,and further study Route planning method for autonomously operating plant protection drones.Referring to the current mainstream drone obstacle avoidance algorithm,according to the previously planned full coverage path method,combined with the unit decomposition method,the obstacle region decomposition method more suitable for the quadrotor drone is developed.It is proposed to sense obstacles by means of contact and collision,and a four-rotor drone obstacle avoidance algorithm is developed for this purpose,which can make the drone avoid obstacles in the farmland operation without disturbing the original route planning.The obstacle avoidance algorithm is simulated and the simulation route is theoretically analyzed.The research results of this paper make the plant protection drones take a step further toward autonomous operation,and the various new methods and new ideas proposed will help promote the advancement of China's agriculture in a more automated,unmanned and intelligent direction.