Coverage Path Planner¶
wadl is a python package for planning surveys over large areas using one or more UAV (Unpiloted Aerial Vehicle). WADL take in a geofence and desired gird spacing and produces a series of routes to survey the area inside the geofence.
wadl is licensed under GPL v3. More information can be found in the License section.
Motivation¶
The project was motivated by the need for efficient route planning for multi-robot systems. WADL was designed and used in a 2019-2020 survey of Adélie penguins over Cape Crozier, Ross Island, Antarctica.
If you are interested in the technical details please see our paper. To cite wadl please use the following
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Overview¶
wadl works by taking in a geofence and a desired lattice spacing to overlay a grid on the geofenced region. This is the geofence of the Cape Cozier Adélie penguin rookery.
It will then split this grid into smaller isolated sub-grid.
For each of these sub-grids it will find a cyclical path through the grid such that each point on the sub-grid is visited at least once.
Finally it will link together these smaller paths into a bigger path. An optional “home” point can be added. The final length can be adjusted by setting a flight time limit.
The final set of paths are exported as a csv file and can be imported into other flight control software. We provide tools to export routes to UGCS.
