Methods of generating a unmanned aerial vehicle migration trajectory, electronic devices and storage mediums

An electronic device, comprising a memory and a processor, the memory having computer program stored therein for controlling an unmanned aerial vehicle (UAV) which, when executed by the processor, causing the processor to provide the steps of:

• drawing a drawn path on a map;
• obtaining, by an electronic device, the drawn path on the map;
• sampling and smoothing the drawn path to generate a first path;
• determining a candidate region of interest and sample viewpoints in a three-dimensional space according to sample points of the first path;
• determining a local candidate according to the candidate region of interest and the sample viewpoints, and obtaining a local candidate cost function;
• generating a local migration trajectory according to a path between different local candidates, and obtaining a local migration trajectory cost function of the local migration trajectory;
• constructing a set travelling salesman problem according to the local candidate cost function and the local migration trajectory cost function, and solving the set travelling salesman problem to obtain a global migration trajectory;
• controlling flying of the UAV based on the global migration trajectory;
• and
• controlling a camera of the UAV to capture images or videos along the global migration trajectory,
• wherein the sample points of the first path refer to feature points constituting the first path;
• and the sample viewpoints refer to points selected in a vertical line perpendicular to a surface where the sample points of the first path are located,
• wherein the obtaining the drawn path on the map and sampling and smoothing the drawn path to generate the first path comprises:
• calculating a curvature of each point on the drawn path, and extracting a point whose curvature is greater than a threshold as a feature point;
• performing sampling processing on the feature points;
• and
• generating the first path according to the sampled feature points.

One or more non-transitory computer-readable storage medium comprising computer-executable instructions for controlling an unmanned aerial vehicle (UAV) which, when executed by one or more processors, causing the one or more processors to provide the steps of:

• drawing a drawn path on a map;
• obtaining, by an electronic device, the drawn path on the map;
• sampling and smoothing the drawn path to generate a first path;
• determining a candidate region of interest and sample viewpoints in a three-dimensional space according to sample points of the first path;
• determining a local candidate according to the candidate region of interest and the sample viewpoints, and obtaining a local candidate cost function;
• generating a local migration trajectory according to a path between different local candidates, and obtaining a local migration trajectory cost function of the local migration trajectory;
• constructing a set travelling salesman problem according to the local candidate cost function and the local migration trajectory cost function, and solving the set travelling salesman problem to obtain a global migration trajectory;
• controlling flying of the UAV based on the global migration trajectory;
• and
• controlling a camera of the UAV to capture images or videos along the global migration trajectory,
• wherein the sample points of the first path refer to feature points constituting the first path;
• and the sample viewpoints refer to points selected in a vertical line perpendicular to a surface where the sample points of the first path are located,
• wherein the obtaining the drawn path on the map and sampling and smoothing the drawn path to generate the first path comprises:
• calculating a curvature of each point on the drawn path, and extracting a point whose curvature is greater than a threshold as a feature point;
• performing sampling processing on the feature points;
• and
• generating the first path according to the sampled feature points.