GPU accelerated coverage path planning optimized for accuracy in robotic inspection applications

Randa Almadhoun, Tarek Taha, Lakmal Seneviratne, Jorge Dias, Guowei Cai

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

5 Scopus citations

Abstract

In this paper, we introduce a coverage path planning algorithm for inspecting large structures optimized to generate highly accurate 3D models. Robotic inspection of structures such as aircrafts, bridges and buildings, is considered a critical task since missing any detail could affect the performance and integrity of the structures. Additionally, it is a time and resource intensive task that should be performed as efficiently and accurately as possible. The method we propose is a model based coverage path planning approach that generates an optimized path that passes through a set of admissible waypoints to cover a complex structure. The coverage path planning algorithm is developed with a heuristic reward function that exploits our knowledge of the structure mesh model, and the UAV's onboard sensors' models to generate optimal paths that maximizes coverage and accuracy, and minimizes distance travelled. Moreover, we accelerated critical components of the algorithm utilizing the Graphics Processing Unit (GPU) parallel architecture. A set of experiments were conducted in a simulated environment to test the validity of the proposed algorithm.

Original languageBritish English
Title of host publication2016 IEEE 59th International Midwest Symposium on Circuits and Systems, MWSCAS 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781509009169
DOIs
StatePublished - 2 Jul 2016
Event59th IEEE International Midwest Symposium on Circuits and Systems, MWSCAS 2016 - Abu Dhabi, United Arab Emirates
Duration: 16 Oct 201619 Oct 2016

Publication series

NameMidwest Symposium on Circuits and Systems
Volume0
ISSN (Print)1548-3746

Conference

Conference59th IEEE International Midwest Symposium on Circuits and Systems, MWSCAS 2016
Country/TerritoryUnited Arab Emirates
CityAbu Dhabi
Period16/10/1619/10/16

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