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.


    Access

    Download


    Export, share and cite



    Title :

    PATH PLANNING FOR INDOOR CONTACT INSPECTION TASKS WITH UAVS


    Contributors:


    Publication date :

    2020




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




    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

    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

    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

    Indoor Collaborative Path Planning Method and System for Multi-UAVs in High-rise Fire-fighting Tasks

    LI HONGYI / CHEN JINTAO / REN HONGRU et al. | European Patent Office | 2021

    Free access