Unmanned aerial vehicles (UAVs) are extensively employed for urban image captures and the reconstruction of large-scale 3D models due to their affordability and versatility. However, most commercial flight software lack support for the adaptive capture of multi-view images. Furthermore, the limited performance and battery capacity of a single UAV hinder efficient image capturing of large-scale scenes. To address these challenges, this paper presents a novel method for multi-UAV continuous trajectory planning aimed at the image captures and reconstructions of a scene. Our primary contribution lies in the development of a path planning framework rooted in task and search principles. Within this framework, we initially ascertain optimal task locations for capturing images by assessing scene reconstructability, thereby enhancing the overall quality of reconstructions. Furthermore, we curtail energy costs of trajectories by allocating task sequences, characterized by minimal corners and lengths, among multiple UAVs. Ultimately, we integrate considerations of energy costs, safety, and reconstructability into a unified optimization process, facilitating the search for optimal paths for multiple UAVs. Empirical evaluations demonstrate the efficacy of our approach in facilitating collaborative full-scene image captures by multiple UAVs, achieving low energy costs while attaining high-quality 3D reconstructions.


    Access

    Download


    Export, share and cite



    Title :

    Multi-UAV Cooperative and Continuous Path Planning for High-Resolution 3D Scene Reconstruction


    Contributors:
    Haigang Sui (author) / Hao Zhang (author) / Guohua Gou (author) / Xuanhao Wang (author) / Sheng Wang (author) / Fei Li (author) / Junyi Liu (author)


    Publication date :

    2023




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




    UAV real-time path planning method for urban scene reconstruction

    ZHOU BIN / KUANG QI / WU JINBO et al. | European Patent Office | 2022

    Free access

    UAV Real-Time Path Planning Method for Urban Scene Reconstruction

    ZHOU BIN / KUANG QI / WU JINBO et al. | European Patent Office | 2021

    Free access

    Cooperative path planning of multi-missiles

    Gao-yang, Yin / Shao-lei, Zhou / Shi, Yan | IEEE | 2014


    UAV cooperative path planning

    Chandler, P. / Rasmussen, S. / Pachter, M. | AIAA | 2000


    UAV Cooperative Path Planning

    Chandler, P. R. / Ramussen, S. / Pachter, M. et al. | British Library Conference Proceedings | 2000