UAV Path Planning for Container Terminal Yard Inspection in a Port Environment

被引：3

作者：

Tang, Gang ^{[1
]}

Wang, Chenyuan ^{[1
]}

Zhang, Zhao ^{[1
]}

Men, Shaoyang ^{[2
]}

机构：

[1] Shanghai Maritime Univ, Logist Engn Coll, Shanghai 201306, Peoples R China

[2] Guangzhou Univ Chinese Med, Sch Med Informat Engn, Guangzhou 510006, Peoples R China

来源：

JOURNAL OF MARINE SCIENCE AND ENGINEERING | 2024年 / 12卷 / 01期

关键词：

unmanned aerial vehicle (UAV); path planning; A* algorithm; intelligent bidirectional rapidly exploring random trees star (IB-RRT*) inspection; container terminal yards; rail-mounted gantry crane tracks (RMGCTs); SIMULTANEOUS LOCALIZATION;

D O I：

10.3390/jmse12010128

中图分类号：

U6 [水路运输]; P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

Container terminal yards are automated terminal yards. The rail-mounted gantry crane (RMGC) and rail-mounted gantry crane tracks (RMGCTs) that frequently operate in terminal yards need to be inspected regularly to ensure the safe operation of container transportation in the yard. This paper proposes a framework for the path planning of RMGCT visual inspection using a UAV in container terminal yards in a port environment. The framework consisted of two main aspects. First, a global path to all inspection viewpoints was planned according to the inspection requirements using the A* algorithm and the improved minimum snap method. Second, the intelligent bidirectional rapidly exploring random trees star (IB-RRT*) algorithm was introduced to plan the local path during the flight of the UAV. Finally, the feasibility of the path-planning framework was demonstrated using simulation experiments.

引用

页数：23