In this paper, a universal polygonal block boundary method is proposed to solve the problem of integral shrinkage and integral expansion of the boundary of the operation area when facing complex operation area boundary and obstacle boundary in the plant protection process of rotor-wing unmanned aerial vehicles (UAVs). When rotorcraft UAVs carry out plant protection operation, they cannot spray more or miss spraying, and they cannot have any collision with obstacles. Based on the method proposed in this paper, the boundary of the operation area and the boundary of the obstacles can be shrunk and expanded as a whole, so as to improve the safety factor of UAVs and the operation accuracy and efficiency.

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