Journal
ELECTRONICS
Volume 10, Issue 7, Pages -Publisher
MDPI
DOI: 10.3390/electronics10070853
Keywords
UAV; coverage path planning; 3D reconstruction; grid map; simulated annealing algorithm
Categories
Funding
- Key-Area Research and Development Program of Guangdong Province [2020B090921003]
- Southern Marine Science and Engineering Guangdong Laboratory (Zhuhai) [SML2020SP011]
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This research proposed a coverage path planning method for UAVs to achieve full coverage of a target area by ensuring the overlap ratio of collected images through map decomposition, segmenting the target area with ray-scan-based area division, and calculating near-optimized paths in subareas using a simulated annealing algorithm to achieve balanced task assignment and minimum energy consumption for each UAV. The system was validated through a site experiment and demonstrated a 12.6% reduction in path length compared to traditional methods.
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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