Research on Accurate Trajectory Generation Method for Automated UAV Flight Based on Lightweight 3D Bounding Box Model
Yonghua Peng, Cheng Jiang, Chen Wang, Lairong Yin, Weiwei Xiao · 2023
General UAV track setting software cannot load engineering 3D models, and there are problems with inaccurate track design such as automatic orbiting and crossing of complex target objects. To address this problem, this paper proposes a method for fine trajectory setting for automated UAV flight. First, this method sets trajectory waypoints for flying around the target. The generated trajectory points can set the flight path sequence to realize animated flight simulations from third-person and first-person flight perspectives on lightweight models. Secondly, based on the collision detection or safe distance detection of multiple bounding boxes on the UAV and the target 3D model along the flight track, the track point coordinates are converted through a conversion algorithm to generate an absolute track coordinate set of longitude, latitude, and altitude. Finally, the coordinate data is exported and automatically updated to set the drone flight path to realize the automated flight of the drone. Experimental results show that the method proposed in this article improves the efficiency of trajectory planning and improves the safety of UAV flight.