Optimal path planning device and method for drones considering obstacles

A optimal path planning device for drones, comprising:

• a first graph generation module configured to generate a first graph by setting a plurality of nodes in a predetermined area based on obstacle information and industrial structure information for the predetermined area, and by setting edges that connect each of the nodes;
• a second graph generation module configured to generate a second graph related to selected inspection object edges among a plurality of edges;
• a third graph generation module configured to generate a third graph with an Eulerian path based on the generated second graph;
• and
• a final path determination module configured to determine an optimal path of the drone based on the total cost of the generated third graph,
• wherein the edges include cost information related to the movement of the drone between the corresponding two nodes,
• wherein the obstacle information includes topographical information of restricted areas that the drone cannot pass through, and
• wherein the industrial structure information includes topographical information of industrial structures to be inspected by the drone.