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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Veröffentlicht in:Electronics (Basel) 2021-04, Vol.10 (7), p.853
Hauptverfasser: Xiao, Sichen, Tan, Xiaojun, Wang, Jinping
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Wang, Jinping
description 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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subjects 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
title A Simulated Annealing Algorithm and Grid Map-Based UAV Coverage Path Planning Method for 3D Reconstruction
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