UAV path planning method for digital terrain model reconstruction – A debris fan example

Abstract

Abstract This research develops an unmanned aerial vehicle (UAV) path-planning method that aims to ensure the required image overlap and optimize the flying routes when applying the UAV for digital terrain model's (DTM) reconstruction. To collect images on a terrain for image modeling, enough overlap between each collected image must be ensured. In addition, when planning the optimized flying routes for collecting images on a debris fan, the specifications of the debris fan and the limitations of the UAV should both be taken into consideration. The path planning method takes a debris fan as an example and refers to the specifications of a debris fan and the limitations of the UAV. The developed method can help the operators to ensure the image overlap through dividing the debris fan into cells by the UAV's maximum image collection distance interval. The near-optimized UAV flying paths are calculated though applying a modified ant colony optimization algorithm (ACO). The developed method is validated to be able to help operators to sufficiently use the limited UAV batteries and evaluate the efficiency of the image collection process. A site experiment was also conducted for validating the workability of the developed method. The result of the comparison shows that the path-planning method can reduce 18.5% of the image collection time. It also confirms that applying the method on an actual debris fan can guarantee the required image overlapping and generate a complete DTM without model breaking.