Application of Circular Limit Cycles for Generation of Flight Paths for Uniform Surveillance of a Region by UAV

In this paper, UAVs flight path planning is considered for getting the aerial photos or movies of a certain area. A trajectory that covers all of the considered area and also be proper for uniform surveillance and detail study is proposed based on the limit cycle concept. For this purpose, circular limit cycle with the desirable radius is generated and a helicoidal flight trajectory is constructed which uniformly converges to the circular limit cycle. Some simulations are carried out to show the flight path generated by this idea.

Keywords:

path planning , UAV , circular Limit cycle , surveillance