Algorithm of UAV Trajectory Creation for Data Collecting from Seismological Sensors

Modern technologies and scientific research play a key role in the study and monitoring of earthquakes. One of the most effective methods of collecting data on seismic activity is the use of seismological sensors that allow you to register and analyze the fluctuations of the Earth’s crust. However, collecting data from seismological sensors in an open area can present certain difficulties, especially in remote and hard-to-reach areas for ground-based monitoring tools. In such cases, the use of unmanned aerial vehicles (UAVs) becomes a promising solution. The main restriction on the use of UAVs is the presence of natural obstacles in the form of mountain peaks and hills that UAVs are not able to overcome without a correctly planned flight path. In this connection, the purpose of this article is to present an UAV flight trajectory planning algorithm for collecting data from seismological sensors in an open area, taking into account the terrain. In this paper, the advantages that UAVs provide for seismological studies in difficult terrain conditions are considered. An algorithm for constructing the trajectory of the UAV using cell decomposition for the task of full coverage of the terrain is proposed, and the results of testing the algorithm in the Gazebo simulator are also presented. Based on the results of the simulation, the proposed trajectory construction algorithm made it possible to successfully collect data from 95.8% of sensors, spending an average of 19 minutes on the mission.