.png){kind=icon}
.png){kind=icon}
Return
Coverage Path Planning for Structural Inspections with UAV
.png){kind=icon}
PRE
AI
DOI：10.1007/978-3-032-01486-3_31.png)
.png){kind=icon}
Original request for help.png){kind=icon}
Share.png){kind=icon}
Save
Abstract
En 中文
This study presents a comprehensive framework for complete inspection of known structures using an Unmanned Aerial Vehicle subject to position uncertainty. The proposed strategy is to take a two-stage approach consisting of viewpoint planning followed by routing. The proposed method enhances an existing Viewpoints Generation algorithm, ensuring 100% coverage of the structure while significantly reducing both computing time and the number of viewpoints by up to 99% and 28%, respectively. The path planning problem is formulated to optimise either energy consumption or mission duration. Various Travelling Salesman Problem (TSP) solvers are compared, with the Lin-Kernighan Heuristic providing near-optimal results in a short time frame when applied to a full-scale wind turbine model. Validation is conducted in the Gazebo simulation environment, offering realistic conditions, while PX4 Software-InThe-Loop (SITL) and ROS2 ensure seamless deployment on real hardware. The code is available in the Zenodo archive [11].
Keywords:
Coverage Path Planning
Unmanned Aerial Vehicle (UAV)
Travelling Salesman Problem (TSP)
Journal
T
IF:
0
Papers:
36
Citations:
0