Route Planning of Agricultural Plant Protection Unmanned Helicopter Based on Interfered Fluid Dynamical System

According to the helicopter flight performance, a route planning method based on interfered fluid dynamic system is proposed for agricultural plant protection. The model of helicopter is used to determine the maximum lift, climb performance and front flight speed. The obstacle equivalent model is established, which is quantified into a disturbance matrix and the initial flow field is corrected to generate a new waypoint. Combined with the identified characteristics, different obstacle avoidance strategies are made for different types of obstacles. The simulation results show that the method a produce a smooth and flyable route in real time and efficiently, so that the unmanned plant protection helicopter can avoid the common obstacle among the farmland, and complete the plant protection task.