U-turn optimization for three-dimensional area coverage of UAV

U-turn is a common and typical turn process in area coverage of Unmanned Aerial Vehicle (UAV) in which the flying path of UAV projection and motion path of camera footprint center do not coincide with each other. This paper investigates the U-turn optimization for three-dimensional area coverage of UAV. Firstly, the relationship between UAV attitude and camera footprint is studied. And some related formulas concerning the camera footprint of UAV are given for different maneuvers which can be used to obtain the parameters of camera footprint and coordinate transformation between UAV centroid and footprint center. Then the differences paths of UAV projection and camera footprint are discussed in line sweep coverage approach. Finally, The U-turn optimization of UAV which contains the distances and duration is analyzed in three different cases.