This repository provides a MATLAB implementation to create a custom coverage path for surveying a region of interest (ROI), with an example application for Rawal Lake in Rawalpindi. The project is inspired by the MATLAB example: Optimally Survey and Customize Coverage of Region of Interest.
- Map Importing: Load geospatial data for any location as the base map.
- Customizable ROI: Define the ROI interactively by drawing boundaries and specifying takeoff/landing positions.
- Region Decomposition: Divide the ROI into simpler regions for efficient path planning.
- Path Planning and Optimization: Automatically generate and optimize a coverage path for complete survey of the ROI.
- Export Waypoints: Save the optimized waypoints in
.waypointsformat, ready for import into Mission Planner.
- Import Map: Load a map of the region (e.g., Rawal Lake).
- Define ROI: Use interactive tools to draw the ROI boundaries and mark takeoff/landing points.
- Divide ROI: Decompose the region into smaller, manageable areas for efficient path planning.
- Plan Path: Generate a coverage path that surveys the entire region.
- Optimize Path: Refine the generated path to minimize travel time and energy.
- Export Waypoints: Save the final optimized path as a
.waypointsfile, which can be directly used in Mission Planner or other ground control software.
This example demonstrates a complete workflow for planning a survey of Rawal Lake:
- A satellite map of Rawal Lake is imported as the base map.
- The ROI is defined interactively.
- The planner decomposes the ROI into smaller sub-regions and generates an efficient coverage path.
- The optimized waypoints are exported and ready to be used for autonomous UAV missions.
This code is fully customizable:
- Clone the repository and modify the input map to survey any region of interest.
- Adjust ROI boundaries, takeoff/landing positions, and other parameters as needed.
- Generate waypoints for various applications like agricultural monitoring, environmental surveys, or urban planning.