Nowadays, unmanned aerial vehicles (UAVs) are extensively used for multiple purposes, such as infrastructure inspections or surveillance. This paper presents a real-time path planning algorithm in indoor environments designed to perform contact inspection tasks using UAVs. The only input used by this algorithm is the point cloud of the building where the UAV is going to navigate. The algorithm is divided into two main parts. The first one is the pre-processing algorithm that processes the point cloud, segmenting it into rooms and discretizing each room. The second part is the path planning algorithm that has to be executed in real time. In this way, all the computational load is in the first step, which is pre-processed, making the path calculation algorithm faster. The method has been tested in different buildings, measuring the execution time for different paths calculations. As can be seen in the results section, the developed algorithm is able to calculate a new path in 8–9 milliseconds. The developed algorithm fulfils the execution time restrictions, and it has proven to be reliable for route calculation. ; Universidade de Vigo | Ref. . 00Vl131H 641.02 ; European Regional Development Fund | Ref. EAPA_826/2018 ; Ministerio de Ciencia, Innovación y Universidades | Ref. PID2019-108816RB-I00


    Access

    Download


    Export, share and cite



    Title :

    Indoor path-planning algorithm for UAV-based contact inspection



    Publication date :

    2021-01-18



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




    Indoor path-planning algorithm for UAV-based contact inspection

    González De Santos, Luis Miguel / Frias Nores, Ernesto / Martínez Sánchez, Joaquín et al. | BASE | 2021

    Free access

    PATH PLANNING FOR INDOOR CONTACT INSPECTION TASKS WITH UAVS

    L. M. González-deSantos / J. Martínez-Sánchez / H. González-Jorge et al. | DOAJ | 2020

    Free access

    Path planning for indoor contact inspection tasks with UAVS

    González De Santos, Luis Miguel / Martínez Sánchez, Joaquín / González Jorge, Higinio et al. | BASE | 2020

    Free access

    Path planning for indoor contact inspection tasks with UAVS

    González De Santos, Luis Miguel / Martínez Sánchez, Joaquín / González Jorge, Higinio et al. | BASE | 2020

    Free access

    Autonomous Flight and Path Planning for an Indoor Inspection Drone Using LiDAR

    Nagata, Yudai / Lee, Jae Hoon / Okamoto, Shingo | Springer Verlag | 2025