A Simulated Annealing Algorithm and Grid Map-Based UAV Coverage Path Planning Method for 3D Reconstruction

With the extensive application of 3D maps, acquiring high-quality images with unmanned aerial vehicles (UAVs) for precise 3D reconstruction has become a prominent topic of study. In this research, we proposed a coverage path planning method for UAVs to achieve full coverage of a target area and to c...

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Vydáno v:Electronics (Basel) Ročník 10; číslo 7; s. 853
Hlavní autoři: Xiao, Sichen, Tan, Xiaojun, Wang, Jinping
Médium: Journal Article
Jazyk:angličtina
Vydáno: Basel MDPI AG 02.04.2021
Témata:
Algorithms
Decomposition
Energy consumption
Energy efficiency
Experiments
Image acquisition
Image quality
Image reconstruction
Image resolution
Methods
Path planning
Planning
Simulated annealing
Software
Surveillance
Traveling salesman problem
Unmanned aerial vehicles
ISSN:2079-9292, 2079-9292
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Shrnutí:With the extensive application of 3D maps, acquiring high-quality images with unmanned aerial vehicles (UAVs) for precise 3D reconstruction has become a prominent topic of study. In this research, we proposed a coverage path planning method for UAVs to achieve full coverage of a target area and to collect high-resolution images while considering the overlap ratio of the collected images and energy consumption of clustered UAVs. The overlap ratio of the collected image set is guaranteed through a map decomposition method, which can ensure that the reconstruction results will not get affected by model breaking. In consideration of the small battery capacity of common commercial quadrotor UAVs, ray-scan-based area division was adopted to segment the target area, and near-optimized paths in subareas were calculated by a simulated annealing algorithm to find near-optimized paths, which can achieve balanced task assignment for UAV formations and minimum energy consumption for each UAV. The proposed system was validated through a site experiment and achieved a reduction in path length of approximately 12.6% compared to the traditional zigzag path.
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ISSN:2079-9292
2079-9292
DOI:10.3390/electronics10070853