3D SCENE RECONSTRUCTION AND PATH PLANNING METHOD FOR UAV IN GNSS-DENIED ENVIRONMENT

Abstract. Today, natural disasters have a huge impact all over the world, while GNSS plays an important role in disaster relief and rescue. However, when ground surface is severely damaged covered, satellite positioning means are denied. In addition, site conditions often very complex may require unmanned robots such as UAVs for pre-surveying. To address raised problem, we reconstructed 3D scene by laser SLAM; improved PRM path planning method better computational efficiency solving feasible results; realized UAV autonomous flight along planned GNSS-denied environment. The experiments prove that map provides navigation environment, proposed has significant improvement efficiency.