Journal of Remote Sensing Technology
Journal of Remote Sensing Technology(JRST)
ISSN:2330-1767(Print)
ISSN:2330-1775(Online)
Frequency: Annually
Website: www.bowenpublishing.com/jrst/
Simplification of Polygonal Terrain Elevations for Construction of Reduced Visibility Graphs and UAV Path Planning
Abstract:
This work proposes an algorithm to simplify polygonal models of digital terrain elevations. The objective of this simplification is the cost decrease of the construction of reduced visibility graphs for Unmanned Aerial Vehicle (UAV) path planning. Given the original polygonal model O of the terrain elevations and O’(t), the simplification of O after the iteration t-1, the algorithm uses invisibility areas between convex vertices as a metric for elimination of the polygon vertices. At each iteration, for each pair of consecutive convex vertices of O’(t), the algorithm calculates the invisibility area between those vertices, based on the original model O. If this calculated area added to the total invisibility area is less than a specified limit, then the vertices between the two consecutives vertices are eliminated from O’(t). The algorithm repeats the process while the area limit is not reached. In UAV path planning context, the proposed algorithm solves two problems that occur with the application of various polygonal simplification methods. Results obtained from the application of the proposed algorithm and analyses of these results are described in this work.
Keywords:UAV path planning; visibility graph; reduced visibility graph; digital elevation model; polygonal simplification
Author: Felipe Leonardo Lôbo Medeiros

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