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

• Published in: Electronics (Basel) Vol. 10; no. 7; p. 853
• Main Authors: Xiao, Sichen, Tan, Xiaojun, Wang, Jinping
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 02.04.2021
• 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
• ISSN: 2079-9292; 2079-9292
• DOI: 10.3390/electronics10070853

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.