Path planning method and device, computer equipment and storage medium

Abstract

The invention relates to a path planning method and device, computer equipment and a storage medium. According to the method, an optimization function is designed based on a fast random expansion tree to plan a path, and when it is judged that the reconstruction degree of a preset sampling point reaches a preset requirement, an optimal path is screened out from a random tree according to target functions including a reconstruction integrity optimization function, a path effectiveness optimization function and a path smoothing function. According to the method, the traditional method of taking a viewpoint as an optimization object is abandoned, the path is taken as the optimization object, the path smoothness optimization function is designed, and the influence of the path smoothness degree on the acquisition time and the energy consumption is considered, so that the planned path is shorter and smoother, and the time and the energy consumption of data acquisition are saved. And meanwhile, a path effectiveness optimization function and a reconstruction integrity optimization function are designed, so that the effectiveness and the quality of the collected data can be further improved. In conclusion, the method provided by the invention can effectively improve the data acquisition efficiency.

Description

technical field [0001] The present application relates to the technical field of path planning, in particular to a path planning method, device, computer equipment and storage medium. Background technique [0002] With the rapid development of UAV technology, UAV-based photo collection technology is approaching maturity and has become the focus of research. [0003] The existing path planning methods for target scene reconstruction first calculate the optimal viewpoint set of collected photos based on the three-dimensional prior geometric information of the target scene, and then use other algorithms such as the traveling salesman problem to connect the optimized viewpoint set into a path , and finally get the planned path for the UAV to complete the collection task. This strategy of first determining the viewpoint of the collected photos and then connecting them into a path makes the planned path ignore the possible collection viewpoints that may exist in the path from one...

AI Technical Summary

Problems solved by technology

This strategy of first determining the viewpoint of the collected photos and then connecting them into a path makes the planned path ignore the possible collection viewpoints that may exist in the path from one viewpoint to the next viewpoint and help improve the reconstruction quality, resulting in waste of resources

And the optimization object in the process of planning the path is the viewpoint, which also makes it difficult to guarantee or adjust the smoothness of the path during the planning process. The planned path is too long, which makes the energy consumption of the UAV higher, thus lengthening the UAV. The time of data collection is shortened, which affects the efficiency of data collection

[0004] It can be seen that the existing path planning methods have the problem of low data collection efficiency.

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