Path planning algorithm for UAV by geotags
https://doi.org/10.32786/2071-9485-2023-04-61
Abstract
The article presents the results of creating a system for processing a set of points located on the map. The created system of algorithms will speed up the creation of a flight mission and apply drones to different types of tasks: from monitoring the state of fields to photographing various objects. The results obtained were applied in a real task.
Introduction. Modern trends in automation and digitalization involve the use of drones. Scanning objects or territories allows you to monitor their condition. In this study, attention is paid to the analysis of power transmission lines, which is an important task for maintaining the stable operation of agricultural enterprises. Various algorithms are used for high-quality performance of tasks by unmanned aerial vehicles.
Object. The object of research is the automation of the construction of a flight mission for UAVs.
Materials and methods. The data received from the customer on the location of power lines were clustered by the Density-based spatial clustering of applications with noise (DBScan) algorithm. For each cluster, a graph with a minimum length of faces was created using the minimum spanning tree (MST) algorithm. The route was built using the depth-first search algorithm (DFS).
Results and conclusions. The developed system of algorithms allows to automate the process of creating a flight mission and has sufficient versatility for use in various tasks of scanning objects and territories. The described results were presented to UAV testers and pilots, who appreciated the user-friendliness of the work and gave positive feedback.
About the Authors
O. S. Ostapovich
Innopolis University
Russian Federation
Russian Federation
Ostapovich Oleg Sergeevich, engineer
Russian Federation, 420500, Tatarstan, Verkhneuslonsky district, Innopolis, Universitetskaya St., 1
M. R. Vishnevsky
Innopolis University
Russian Federation
Russian Federation
Vishnevsky Mark Romanovich, engineer
Russian Federation, 420500, Tatarstan, Verkhneuslonsky district, Innopolis, Universitetskaya St., 1
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Review
For citations:
Ostapovich O.S., Vishnevsky M.R. Path planning algorithm for UAV by geotags. Title in english. 2023;(4 (72)):606-614. (In Russ.) https://doi.org/10.32786/2071-9485-2023-04-61
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