Coverage Path Planning for Complex Structures Inspection Using Unmanned Aerial Vehicle (UAV)

Randa Almadhoun, Tarek Taha, Jorge Dias, Lakmal Seneviratne, Yahya Zweiri

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

10 Scopus citations

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’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.

Original languageBritish English
Title of host publicationIntelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings
EditorsHaibin Yu, Jinguo Liu, Lianqing Liu, Yuwang Liu, Zhaojie Ju, Dalin Zhou
PublisherSpringer Verlag
Pages243-266
Number of pages24
ISBN (Print)9783030275402
DOIs
StatePublished - 2019
Event12th International Conference on Intelligent Robotics and Applications, ICIRA 2019 - Shenyang, China
Duration: 8 Aug 201911 Aug 2019

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume11744 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference12th International Conference on Intelligent Robotics and Applications, ICIRA 2019
Country/TerritoryChina
CityShenyang
Period8/08/1911/08/19

Keywords

  • 3D reconstruction
  • Aerial robots
  • Autonomous exploration
  • Coverage planning
  • View planning

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