Uniform coverage structural inspection path-planning for micro aerial vehicles

Kostas Alexis, Christos Papachristos, Roland Siegwart, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This work proposes a new path-planning framework that provides uniform coverage of 3D structures by employing an iterative strategy to improve the inspection path that benefits from remeshing-techniques, while the first full solution is computed very fast. The resulting paths inspect each detail of the structure from a distance that directly depends to the local geometrical complexity of the structure and viewpoints are selected accordingly. For each admissible set of viewpoints, a Traveling Salesman Problem is solved and leads to the inspection route that the algorithm outputs at each iteration. The proposed path-planning algorithm is initially evaluated in extensive simulation studies. Finally, an experimental case study using a Micro Aerial Vehicle and a realistic mockup model of a power transformer is conducted, validating the advantages of the proposed scheme in conducting fine-quality inspection.

Original languageEnglish (US)
Title of host publication2015 IEEE International Symposium on Intelligent Control, ISIC 2015 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages59-64
Number of pages6
ISBN (Electronic)9781479977888
DOIs
StatePublished - Oct 26 2015
EventIEEE International Symposium on Intelligent Control, ISIC 2015 - Sydney, Australia
Duration: Sep 21 2015Sep 23 2015

Publication series

NameIEEE International Symposium on Intelligent Control - Proceedings
Volume2015-October

Other

OtherIEEE International Symposium on Intelligent Control, ISIC 2015
CountryAustralia
CitySydney
Period9/21/159/23/15

Keywords

  • Computational modeling
  • Face
  • Heuristic algorithms
  • Inspection
  • Load modeling
  • Three-dimensional displays
  • Vehicles

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Alexis, K., Papachristos, C., Siegwart, R., & Tzes, A. (2015). Uniform coverage structural inspection path-planning for micro aerial vehicles. In 2015 IEEE International Symposium on Intelligent Control, ISIC 2015 - Proceedings (pp. 59-64). [7307280] (IEEE International Symposium on Intelligent Control - Proceedings; Vol. 2015-October). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISIC.2015.7307280