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| A path planning method of UAV for aerogeophysical survey |
| XIAO Du, LI Jun-Feng |
| Institute of Geophysical and Geochemical Exploration,CAGS,Langfang 065000,China |
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Abstract This paper presents a three-dimensional automatic path planning method, which is used to solve the problem of autonomous navigation of UAV (Unmanned Aerial Vehicle) under the condition of complex topography in high-precision aerogeophysical survey. With the survey path coordinates and DEM (Digital Elevation Model) data as the input, on the basis of climb rate of the UAV, and by the climbing rate adjustment, cutting line adjustment, rarefying and fitting processing, this method get the matching surface elevation data with the UAV climbing capability, and it could be used to extract 3D path data for autonomous navigation. Simulation and test results show that the path data acquired by this method not only guarantee the flight safety but also have certain terrain following effects, thus creating favorable conditions for high precision aerogeophysical survey with UAV.
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Received: 26 April 2016
Published: 20 June 2017
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