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UAV-Assisted Image Acquisition: 3D UAV Trajectory Design and Camera Control

Xiao-Wei TangShuowen ZhangChangsheng YouXin-Lin HuangRui Zhang
Dec 2020
摘要
In this paper, we consider a new unmanned aerial vehicle (UAV)-assistedoblique image acquisition system where a UAV is dispatched to take images ofmultiple ground targets (GTs). To study the three-dimensional (3D) UAVtrajectory design for image acquisition, we first propose a novel UAV-assistedoblique photography model, which characterizes the image resolution withrespect to the UAV's 3D image-taking location. Then, we formulate a 3D UAVtrajectory optimization problem to minimize the UAV's traveling distancesubject to the image resolution constraints. The formulated problem is shown tobe equivalent to a modified 3D traveling salesman problem with neighbourhoods,which is NP-hard in general. To tackle this difficult problem, we propose aniterative algorithm to obtain a high-quality suboptimal solution efficiently,by alternately optimizing the UAV's 3D image-taking waypoints and its visitingorder for the GTs. Numerical results show that the proposed algorithmsignificantly reduces the UAV's traveling distance as compared to variousbenchmark schemes, while meeting the image resolution requirement.
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