METHOD OF TERRITORY MONITORING USING UAV Russian patent published in 2024 - IPC G05D1/00 G06F17/40 G01C21/00 

FIELD: physics; methods of territory monitoring.

SUBSTANCE: invention relates to a method of monitoring a territory using an unmanned aerial vehicle (UAV). To monitor the territory, a set of coordinates corresponding to points on the terrain to be flown by the UAV is received, points from the received set are grouped by separate clusters using the clustering unit based on the DBScan clustering algorithm, for each cluster the points included in it are connected to each other in the form of a loopless graph using the points connection unit in the cluster based on the minimum spanning tree (MST) algorithm, selecting an initial point of the graph, finding the most distant point from the initial point in the graph as an end point and planning a path by performing a passage along the graph from the initial point to the final point recursively using a path generation unit based on a depth-first search (DFS) algorithm, at least one flight task for the UAV is formed based on the planned path for each cluster, and monitoring is performed using the UAV based on the formed at least one flight task.

EFFECT: optimal trajectory adapted for the considered type of UAV is provided.

5 cl, 6 dwg