UAV technology has become a useful tool for the inspection of infrastructures. Structural Health Monitoring methods are already implementing these vehicles to obtain information about the condition of the structure. Several systems based on close range remote sensing and contact sensors have been developed. In both cases, in order to perform autonomous missions in hard accessible areas or with obstacles, a path planning algorithm that calculates the trajectory to be followed by the UAV to navigate these areas is mandatory. This works presents a UAV path planning algorithm developed to navigate indoors and outdoors. This algorithm does not only calculate the waypoints of the path, but the orientation of the vehicle for each location. This algorithm will support a specific UAV-based contact inspection of vertical structures. The required input data consist of a point cloud of the environment, the initial position of the UAV and the target point of the structure where the contact inspection will be performed. ; Universidade de Vigo | Ref. 00Vl 131H 641.02 ; Ministerio de Economía, Industria y Competitividad (España) | Ref. TIN2016-77158-C4-2-R ; Ministerio de Economía, Industria y Competitividad (España) | Ref. RTC-2016-5257-7 ; European Regional Development Fund (ERDF) | Ref. EAPA_826/2018
Path planning for indoor contact inspection tasks with UAVS
25.08.2020
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
Indoor Collaborative Path Planning Method and System for Multi-UAVs in High-rise Fire-fighting Tasks
Europäisches Patentamt | 2021
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