Fig. 3 | Scientific Reports

Fig. 3

From: Multi-strategy hybrid adaptive dung beetle optimization for UAV photogrammetric 3D path planning under complex constraints

Fig. 3

Turning and climbing angle calculation. \(\overrightarrow {{W_{ij} W_{i,j + 1} }}\) and \(\overrightarrow {{W_{i,j + 1} W_{i,j + 2} }}\) represent consecutive flight segments in the planned route, with \(\overrightarrow {{W_{ij}{\prime} W_{i,j + 1}{\prime} }}\) and \(\overrightarrow {{W_{i,j + 1}{\prime} W_{i,j + 2}{\prime} }}\) denoting their projections on the XOY horizontal plane.

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