Energy-Efficient Trochoidal Path Planning for Unmanned Aircraft Under Wind and Performance Constraints

Fixed-wing unmanned aircraft are widely used for aerial mapping because they can acquire high-resolution data at relatively low cost, but maintaining both energy efficiency and image quality in the presence of wind and flight-performance limits remains challenging. In practice, operators introduce buffer regions and extended waypoints outside the area of interest to cope with deviations during turning, which increases flight distance and energy use; yet, this approach can still degrade image overlap near the boundary. This paper presents a path-planning framework that designs turning maneuvers compatible with bank-angle, stall-margin, and roll-rate constraints while aligning mapping lanes directly with the area of interest. The framework combines analytically structured turn patterns, an energy-based metric that accounts for increased aerodynamic load in banked flight, and a two-stage path-angle selection procedure that uses a fast, simplified model to guide a more detailed optimization. Simulation studies on both idealized and real survey geometries indicate that, within the considered maneuver families and assumptions, the proposed method can reduce the integrated aerodynamic energy metric and improve coverage compliance relative to a conventional path-following approach that relies on overshoot points.