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Kinematics analysis of UAV turning motion in coverage path planning

CHEN Hai,WANG Xin-min,JIAO Yu-song,LI Yan(College of Automation,Northwestern Polytechnical University,Xi'an 710072,China)  
Compared with the difference between robots and UAVs,the kinematics property of the UAV turning motion in the coverage path planning is investigated in this paper.The mathematical model of the turning motion is presented.It is proved that,compared with flat flying,the turning motion is less efficient in fuel consumption.A formula to obtain the normal acceleration for minimum fuel consumption under a given flying velocity is proposed.The relationship between the detecting path and the flying path of turning motion is analyzed.Finally,the distance and duration of the turn are calculated in three different situations.
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