Improved method of UAV 3D path planning

doi:10.13474/j.cnki.11-2246.2021.0077

Abstract

Abstract: In order to adapt to the changing natural environment, it is necessary to develop three-dimensional path planning for remote sensing observation mission in the complex environment of undulant terrain. It is valuable to reduce the flight time and energy consumption to improve the observation efficiency. This paper proposes an algorithm called curved surfaced flattening algorithm (CSFA). The algorithm uses quasi-uniform B-spline curve fitting algorithm to interpolate the DEM of target area processed by CSFA algorithm to build the terrain model of regional natural environment. Then it uses the vertex-edge algorithm to calculate the optimal flight direction and obtain minimum number of turns in order to reduce the time and energy consumption. Finally, the three-dimensional(3D) airstrips and exposure points can be calculated according to the overlap constraint in photogrammetry and regional environment terrain model. In the experiment, 3D path planning simulation is carried out by establishing constraints at different fly heights. The results show that method proposed in this paper can shorten the length of 3D airstrips, reduce the energy consumption and improve the efficiency of observation task obviously.

Key words: undulant terrain, 3D path planning, B-spline curve fitting, curved surface flattening, shorten the airstrips' length

CLC Number:

P237

FENG Zhaohui, HAN Liusheng, LI Qin. Improved method of UAV 3D path planning[J]. Bulletin of Surveying and Mapping, 2021, 0(3): 50-54.

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