Coverage Path Planning

A part of the competition is to scan a predetermined area (airdrop zone) for targets on the ground.

To accomplish this, we draw a series of parallel lines (at a set altitude) across the airdrop zone and then turn at the edges - similar to agricultural equipment. This is to ensure that the plane can take pictures while the camerapoints points orthogonally to the ground without the assistance of a gimbal.

With the Lucid camera, the speed of the plane was too great, causing unwanted effects with the photos. Therefore, as of now, the plane hovers at specific intervals along its path within the airdrop zone. (this could change in the future with a camera swap)

currently only works for convex areas - which is fine considering the competition airdrop zone is a rectangle

Here is something similar by matlab .