![]() The application of autonomous UAVs to infrastructure inspection tasks provides benefits in terms of operation time reduction, safety, and cost-effectiveness. The path cost is 167.3s\documentclass coordinate system is employed (Color figure online) The inspection path was computed based on a rough CAD model and the polyhedric obstacle was also included. To thoroughly evaluate this new path planning strategy, a set of large-scale simulation scenarios was considered, followed by multiple real-life experimental test-cases using both vehicle configurations.Įxperimental study of the inspection of a subset of the ETH Polyterrasse truncated cones. Both fixed-wing as well as rotorcraft aerial robot configurations are supported and their motion constraints are respected at all optimization steps, while the algorithm operates on both mesh- and occupancy map-based representations of the environment. The algorithm supports the integration of multiple sensors with different fields of view, the limitations of which are respected. ![]() The proposed approach is capable of computing short inspection paths via an alternating two-step optimization algorithm according to which at every iteration it attempts to find a new and improved set of viewpoints that together provide full coverage with decreased path cost. This paper presents a new algorithm for three-dimensional coverage path planning for autonomous structural inspection operations using aerial robots.
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June 2023
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