@inproceedings{8c58d0ff5c9642cb9d61b2823a269ed2,
title = "Coverage Path Planning for Complex Structures Inspection Using Unmanned Aerial Vehicle (UAV)",
abstract = "The most critical process in the inspection is the structure coverage which is a time and resource intensive task. In this paper, Search Space Coverage Path Planning (SSCPP) algorithm for inspecting complex structure using a vehicular system consisting of Unmanned Aerial Vehicle (UAV) is proposed. The proposed algorithm exploits our knowledge of the structure model, and the UAV{\textquoteright}s onboard sensors to generate coverage paths that maximizes coverage and accuracy. The algorithm supports the integration of multiple sensors to increase the coverage at each viewpoint and reduce the mission time. A weighted heuristic reward function is developed in the algorithm to target coverage, accuracy, travelled distance and turning angle at each viewpoint. The iterative processes of the proposed algorithm were accelerated exploiting the parallel architecture of the Graphics Processing Unit (GPU). A set of experiments using models of different shapes were conducted in simulated and real environments. The simulation and experimental results show the validity and effectiveness of the proposed algorithm.",
keywords = "3D reconstruction, Aerial robots, Autonomous exploration, Coverage planning, View planning",
author = "Randa Almadhoun and Tarek Taha and Jorge Dias and Lakmal Seneviratne and Yahya Zweiri",
note = "Funding Information: This publication is based upon work supported by the Khalifa University of Science and Technology under Award No. RC1-2018-KUCARS. Funding Information: Acknowledgements. This publication is based upon work supported by the Khalifa University of Science and Technology under Award No. RC1-2018-KUCARS. Publisher Copyright: {\textcopyright} 2019, Springer Nature Switzerland AG.; 12th International Conference on Intelligent Robotics and Applications, ICIRA 2019 ; Conference date: 08-08-2019 Through 11-08-2019",
year = "2019",
doi = "10.1007/978-3-030-27541-9_21",
language = "British English",
isbn = "9783030275402",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "243--266",
editor = "Haibin Yu and Jinguo Liu and Lianqing Liu and Yuwang Liu and Zhaojie Ju and Dalin Zhou",
booktitle = "Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings",
address = "Germany",
}