Continuous Drone Path Planning with RRT for Smooth 3D Reconstruction
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Solution Overview
Problem
Existing path planning methods for drone-based image capturing technologies are inefficient, leading to long planned paths that result in high energy consumption and elongated data collection times, while also ignoring potential capturing points along the path.
Innovation Solution
A method and apparatus for continuous path planning using a Rapidly Exploring Random Tree (RRT) optimizer, which generates paths that optimize reconstruction completeness, path effectiveness, and path smoothness, thereby improving data collection efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the traditional two-step path planning method (first determining viewpoints, then connecting them) is used, then the reconstruction quality is improved, but the path length becomes too long, resulting in high energy consumption and low data collection efficiency
Solution Approach 1:
The patent merges the viewpoint determination and path connection steps into a unified continuous path planning process. The RRT algorithm simultaneously optimizes for both reconstruction quality (by ensuring sufficient sampling points are captured) and path efficiency (by minimizing path length and maximizing smoothness), eliminating the need to separately connect viewpoints after determining them.
Solution Approach 2:
The patent introduces dynamic path adjustment capabilities where the planning process can adaptively add capturing points along the path and adjust the path in real-time to optimize both reconstruction quality and efficiency. The system dynamically balances between staying on an efficient path and capturing necessary viewpoints for reconstruction.
2Manufacturing precision
If the traditional two-step path planning method is used, then the reconstruction quality is improved, but the path becomes less smooth, making it difficult to guarantee path smoothness during planning
Solution Approach 1:
The patent implements dynamic path smoothing through the RRT algorithm, which continuously adjusts the path to maximize smoothness while maintaining reconstruction quality. The algorithm dynamically adds capturing points and adjusts path geometry to ensure smooth transitions, rather than simply connecting predetermined viewpoints.
3Manufacturing precision
If the traditional path planning method is used, then the viewpoints are optimized for image capturing, but the capturing points that may exist in the path are ignored, resulting in waste of resources
Solution Approach 1:
The patent ensures continuous useful action by identifying and utilizing all valuable capturing points along the planned path, not just predetermined viewpoints. The RRT algorithm continuously evaluates potential capturing points and integrates them into the path, ensuring no resource-wasting opportunities are missed while maintaining efficient path coverage.
Data Source
AI summary
A method, an apparatus for continuous path planning, a computer device, and a storage medium. The method designs the optimization function based on the rapidly exploring random tree to plan path, and the optimal path is screened out from the random tree according to target function including the reconstruction completeness optimization function, the path effectiveness optimization function, and the path smoothness optimization function when the reconstruction degree of the preset sampling points is determined to meet the preset requirement.