Complete Coverage Route Planning for Pesticide-Spraying UAV Considering Varying Wind

This paper considers deploying a multi-rotor Un manned Aerial Vehicle (UAV) for spraying pesticides precisely and evenly, for completely covering a bounded crop field. Due to varying wind, the multi-rotor UAV can spray inaccurate amount of pesticides on wrong areas, which leads to unwanted pollution of nature. To resolve this problem, this paper addresses a Complete Coverage Route (CCR) planning approach to spray pesticides precisely and evenly on a bounded crop field, considering the effect of wind explicitly. Considering the wind effect, we plan the multi-rotor UAV's CCR so that there exists no holes in pesticide coverage of a cluttered bounded crop field which may contain conservative area (ex: non-target vegetation or clean pond). The multi-rotor UAV can fly above conservative areas, but we need to avoid spraying pesticide over conservative areas. To the best of our knowledge, our research is novel in proposing how to plan the multi-rotor UAV's CCR under varying wind, so that the UAV can spray pesticides inside the cluttered bounded crop field precisely and evenly.