This letter addresses the 3D coverage path planning (CPP) problem for terrain reconstruction of unknown obstacle rich environments. Due to sensing limitations, the proposed method, called CT-CPP, performs layered scanning of the 3D region to collect terrain data, where the traveling sequence is optimized using the concept of a coverage tree (CT). A modified TSP-based tree traversal strategy is proposed. The CT-CPP method is validated on a high-fidelity underwater simulator and the results are evaluated in comparison to an existing terrain following CPP method (TF-CPP). The CT-CPP with TSP optimizer yields significant improvements in trajectory length, energy consumption, and reconstruction error.

翻译：由于遥感方面的限制,拟议的方法(称为CT-CPP)对三维区域进行分层扫描,以收集地形数据,利用覆盖树的概念优化了该区域的旅行顺序。提出了以三维覆盖线为基础的修改后的基于三维覆盖线的树木跨行战略。三维覆盖线方法在高度纤维化水下模拟器上得到验证,其结果与采用PCP方法的现有地形相比较得到评估。三维区域与TPP优化的CT-CPP在轨迹长度、能源消耗和重建错误方面大有改进。