Smooth Coverage Path Planning for UAVs with Model Predictive Control Trajectory Tracking

被引：7

作者：

Tripicchio, Paolo ^{[1
]}

Unetti, Matteo ^{[1
]}

D'Avella, Salvatore ^{[1
]}

Avizzano, Carlo Alberto ^{[1
]}

机构：

[1] Inst Mech Intelligence, Scuola Super Sant Anna, Dept Excellence Robot & AI, I-56127 Pisa, Italy

来源：

ELECTRONICS | 2023年 / 12卷 / 10期

关键词：

path planning; model predictive control; simultaneous localization and mapping; unmanned aerial vehicles; ALGORITHM;

D O I：

10.3390/electronics12102310

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Within the Industry 4.0 ecosystem, Inspection Robotics is one fundamental technology to speed up monitoring processes and obtain good accuracy and performance of the inspections while avoiding possible safety issues for human personnel. This manuscript investigates the robotics inspection of areas and surfaces employing Unmanned Aerial Vehicles (UAVs). The contribution starts by addressing the problem of coverage path planning and proposes a smoothing approach intended to reduce both flight time and memory consumption to store the target navigation path. Evaluation tests are conducted on a quadrotor equipped with a Model Predictive Control (MPC) policy and a Simultaneous Localization and Mapping (SLAM) algorithm to localize the UAV in the environment.

引用

页数：19

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