A Framework for Coverage Path Planning Optimization Based on Point Cloud for Structural Inspection

被引：33

作者：

Biundini, Iago Z. ^{[1
]}

Pinto, Milena F. ^{[2
]}

Melo, Aurelio G. ^{[1
]}

Marcato, Andre L. M. ^{[1
]}

Honorio, Leonardo M. ^{[1
]}

Aguiar, Maria J. R. ^{[1
]}

机构：

[1] Univ Fed Juiz de Fora, Dept Elect Engn, BR-36036900 Juiz De Fora, Brazil

[2] Fed Ctr Technol Educ Rio De Janeiro, Dept Elect Engn, BR-20271110 Rio De Janeiro, Brazil

来源：

SENSORS | 2021年 / 21卷 / 02期

关键词：

3D inspection; coverage path planning; point cloud analysis; optimization; UAV; ALGORITHM;

D O I：

10.3390/s21020570

中图分类号：

O65 [分析化学];

学科分类号：

070302 ; 081704 ;

摘要：

Different practical applications have emerged in the last few years, requiring periodic and detailed inspections to verify possible structural changes. Inspections using Unmanned Aerial Vehicles (UAVs) should minimize flight time due to battery time restrictions and identify the terrain's topographic features. In this sense, Coverage Path Planning (CPP) aims at finding the best path to coverage of a determined area respecting the operation's restrictions. Photometric information from the terrain is used to create routes or even refine paths already created. Therefore, this research's main contribution is developing a methodology that uses a metaheuristic algorithm based on point cloud data to inspect slope and dams structures. The technique was applied in a simulated and real scenario to verify its effectiveness. The results showed an increasing 3D reconstructions' quality observing optimizing photometric and mission time criteria.

引用

页码：1 / 20

页数：20

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