Cooperative coverage path planning for visual inspection
| Autor: | Christoforos Kanellakis, Emil Fresk, George Nikolakopoulos, Sina Sharif Mansouri, Dariusz Kominiak |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Optimization problem Computer science Applied Mathematics Real-time computing 02 engineering and technology Control Engineering Computer Science Applications Task (project management) Visual inspection 020901 industrial engineering & automation Control and Systems Engineering Reglerteknik Path (graph theory) 0202 electrical engineering electronic engineering information engineering Structure from motion 020201 artificial intelligence & image processing Polygon mesh Motion planning Electrical and Electronic Engineering Representation (mathematics) |
| Popis: | This article addresses the inspection problem of a complex 3D infrastructure using multiple Unmanned Aerial Vehicles (UAVs). The main novelty of the proposed scheme stems from the establishment of a theoretical framework capable of providing a path for accomplishing a full coverage of the infrastructure, without any further simplifications (number of considered representation points), by slicing it by horizontal planes to identify branches and assign specific areas to each agent as a solution to an overall optimization problem. Furthermore, the image streams collected during the coverage task are post-processed using Structure from Motion, stereo SLAM and mesh reconstruction algorithms, while the resulting 3D mesh can be used for further visual inspection purposes. The performance of the proposed Collaborative-Coverage Path Planning (C-CPP) has been experimentally evaluated in multiple indoor and realistic outdoor infrastructure inspection experiments and as such it is also contributing significantly towards real life applications for UAVs. Validerad;2018;Nivå 2;2018-03-19 (andbra) Collaborative Aerial Robotic Workers, AEROWORKS |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|