Spiral Trajectories for Building Inspection with Quadrotors

Autor:	Vasquez, Juan Irving, Romero, David E. Troncoso, Antonio-Cruz, Mayra, Zamora, Erik
Rok vydání:	2022
Předmět:	Computer Science - Robotics
Druh dokumentu:	Working Paper
Popis:	Inspection of large building is an important task since it can prevent material and human losses. A cheap and fast way to do the inspections is by sensors mounted on quadrotor vehicles. The challenge here is to compute a trajectory so that the building is completely observed while this same trajectory can be followed by the quadrotor in a smooth way. To address the problem, we propose a method that receives a 2.5D model of the target building and computes a smooth trajectory that can be followed by the quadrotor controller. The computed trajectory is a Fourier series that matches the desired behaviour. Our method has been tested in simulation and we have compared it against polynomial trajectories. Our result show that the method is efficient and can be applied to different building shapes. Comment: In preparation for conference
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2202.08779 Zobrazit plný text záznamu View this record from Arxiv