Path planning method, device, computer equipment and storage medium

Abstract

The present application relates to a path planning method, device, computer equipment and storage medium. The method is based on fast random expansion tree design optimization function to plan the path, when it is judged that the reconstruction degree of the preset sampling point reaches the preset requirement, according to the objective function including the reconstruction integrity optimization function, the path effectiveness optimization function and the path smoothing function , to select the optimal path from the random tree. The above method abandons the traditional method of taking the viewpoint as the optimization object, takes the path as the optimization object, designs the path smoothness optimization function, and considers the influence of the path smoothness on the acquisition time and energy consumption, making the planned path shorter And smoother, thereby saving data collection time and energy consumption. At the same time, the path validity optimization function and the reconstruction integrity optimization function are designed, which can further improve the validity and quality of the collected data. To sum up, the method provided by this application can effectively improve the efficiency of data collection.

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...

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