The developed method is validated to be able to help operators to sufficiently use the limited UAV batteries and evaluate the efficiency of the image collection process. The near-optimized UAV flying paths are calculated though applying a modified ant colony optimization algorithm (ACO). The developed method can help the operators to ensure the image overlap through dividing the debris fan into cells by the UAV's maximum image collection distance interval. The path planning method takes a debris fan as an example and refers to the specifications of a debris fan and the limitations of the UAV. In addition, when planning the optimized flying routes for collecting images on a debris fan, the specifications of the debris fan and the limitations of the UAV should both be taken into consideration. To collect images on a terrain for image modeling, enough overlap between each collected image must be ensured. This research develops an unmanned aerial vehicle (UAV) path-planning method that aims to ensure the required image overlap and optimize the flying routes when applying the UAV for digital terrain model's (DTM) reconstruction.
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