تقرير
Multi-UAV trajectory planning for 3D visual inspection of complex structures
| العنوان: | Multi-UAV trajectory planning for 3D visual inspection of complex structures |
|---|---|
| المؤلفون: | Ivić, Stefan, Crnković, Bojan, Grbčić, Luka, Matleković, Lea |
| سنة النشر: | 2022 |
| المجموعة: | Computer Science Mathematics |
| مصطلحات موضوعية: | Mathematics - Optimization and Control, Computer Science - Multiagent Systems, Computer Science - Robotics, Electrical Engineering and Systems Science - Systems and Control |
| الوصف: | The application of autonomous UAVs to infrastructure inspection tasks provides benefits in terms of operation time reduction, safety, and cost-effectiveness. This paper presents trajectory planning for three-dimensional autonomous multi-UAV volume coverage and visual inspection of infrastructure based on the Heat Equation Driven Area Coverage (HEDAC) algorithm. The method generates trajectories using a potential field and implements distance fields to prevent collisions and to determine UAVs' camera orientation. It successfully achieves coverage during the visual inspection of complex structures such as a wind turbine and a bridge, outperforming a state-of-the-art method by allowing more surface area to be inspected under the same conditions. The presented trajectory planning method offers flexibility in various setup parameters and is applicable to real-world inspection tasks. Conclusively, the proposed methodology could potentially be applied to different autonomous UAV tasks, or even utilized as a UAV motion control method if its computational efficiency is improved. Comment: Revised abstract, references and captions, 17 pages |
| نوع الوثيقة: | Working Paper |
| DOI: | 10.1016/j.autcon.2022.104709 |
| URL الوصول: | http://arxiv.org/abs/2204.10070 |
| رقم الأكسشن: | edsarx.2204.10070 |
| قاعدة البيانات: | arXiv |
| DOI: | 10.1016/j.autcon.2022.104709 |
|---|