Multi-UAV Cooperative and Continuous Path Planning for High-Resolution 3D Scene Reconstruction
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...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-08-01
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| Series: | Drones |
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| Online Access: | https://www.mdpi.com/2504-446X/7/9/544 |
| _version_ | 1797580513592999936 |
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| author | Haigang Sui Hao Zhang Guohua Gou Xuanhao Wang Sheng Wang Fei Li Junyi Liu |
| author_facet | Haigang Sui Hao Zhang Guohua Gou Xuanhao Wang Sheng Wang Fei Li Junyi Liu |
| author_sort | Haigang Sui |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-10T22:52:06Z |
| format | Article |
| id | doaj.art-5f631616b2a1470f9651dab053f2e9fe |
| institution | Directory Open Access Journal |
| issn | 2504-446X |
| language | English |
| last_indexed | 2024-03-10T22:52:06Z |
| publishDate | 2023-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj.art-5f631616b2a1470f9651dab053f2e9fe2023-11-19T10:16:48ZengMDPI AGDrones2504-446X2023-08-017954410.3390/drones7090544Multi-UAV Cooperative and Continuous Path Planning for High-Resolution 3D Scene ReconstructionHaigang Sui0Hao Zhang1Guohua Gou2Xuanhao Wang3Sheng Wang4Fei Li5Junyi Liu6State Key Laboratory Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430070, ChinaState Key Laboratory Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430070, ChinaState Key Laboratory Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430070, ChinaState Key Laboratory Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430070, ChinaState Key Laboratory Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430070, ChinaState Key Laboratory Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430070, ChinaState Key Laboratory Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430070, ChinaUnmanned 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.https://www.mdpi.com/2504-446X/7/9/544multi-UAVcooperationcontinuous path planningscene reconstructionimage capture |
| spellingShingle | Haigang Sui Hao Zhang Guohua Gou Xuanhao Wang Sheng Wang Fei Li Junyi Liu Multi-UAV Cooperative and Continuous Path Planning for High-Resolution 3D Scene Reconstruction Drones multi-UAV cooperation continuous path planning scene reconstruction image capture |
| title | Multi-UAV Cooperative and Continuous Path Planning for High-Resolution 3D Scene Reconstruction |
| title_full | Multi-UAV Cooperative and Continuous Path Planning for High-Resolution 3D Scene Reconstruction |
| title_fullStr | Multi-UAV Cooperative and Continuous Path Planning for High-Resolution 3D Scene Reconstruction |
| title_full_unstemmed | Multi-UAV Cooperative and Continuous Path Planning for High-Resolution 3D Scene Reconstruction |
| title_short | Multi-UAV Cooperative and Continuous Path Planning for High-Resolution 3D Scene Reconstruction |
| title_sort | multi uav cooperative and continuous path planning for high resolution 3d scene reconstruction |
| topic | multi-UAV cooperation continuous path planning scene reconstruction image capture |
| url | https://www.mdpi.com/2504-446X/7/9/544 |
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