Optimized Path Planning for Cooperative Data Collection of UAV and UGV on Construction sites

초록

Efficient and accurate data acquisition is essential for constructing digital twins in construction environments characterized by complex structures and physical constraints. While UAV and UGV each offer strengths in coverage and mobility, relying on a single platform often leads to incomplete and inefficient map generation. This study proposes a cooperative path planning framework that integrates UAV and UGV to optimize exploration efficiency and maximize spatial coverage. The proposed method considers the complementary sensing and mobility characteristics of each platform to enhance data collection efficiency while ensuring comprehensive site coverage. Compared to the conventional operator-guided approach, the proposed method achieved a 20% reduction in total exploration distance and a 35% reduction in exploration time. Despite a 23% decrease in point density, the resulting point cloud successfully preserved critical structural and ground-level details with sufficient accuracy. This research presents a practical and scalable approach to data acquisition for digital twin construction in large-scale and complex construction sites. © 2025 IEEE.

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