In this paper, we introduce a coverage path planning algorithm with adaptive viewpoint sampling to construct accurate 3D models of complex large structures using Unmanned Aerial Vehicle (UAV). The developed algorithm, Adaptive Search Space Coverage Path Planner (ASSCPP), utilizes an existing 3D reference model of the complex structure and the onboard sensors’ noise models to generate paths that are evaluated based on the traveling distance and the quality of the model. The algorithm generates a set of viewpoints by
performing adaptive sampling that directs the search towards
areas with low accuracy and low coverage. The algorithm
predicts the coverage percentage obtained by following the
generated coverage path using the reference model. A set of
experiments were conducted in real and simulated environments
with structures of different complexities to test the validity of
the proposed algorithm.