Algorithm of autonomous drone path search for monitoring critical infrastructure objects

Abstract

This work is devoted to the development of an autonomous drone pathfinding algorithm. The idea of ​​using such a method is due to the need to find new ways to monitor critical infrastructure and respond in unforeseen situations and develop new approaches to avoid problems associated with existing methods and technologies of monitoring and navigation. The purpose of this work is the study of existing monitoring methods, the development of an algorithm for choosing a direction when obstacles are detected, combining it with other algorithms, and integrating sensors. The article presents an algorithm for the autonomous movement of a drone for building a three-dimensional (3D) map of a room. The algorithm implements the search and coverage of space by moving first in the plane of two-dimensional space (2D) and then in the vertical direction, allowing the drone to efficiently map the 3D environment.