RT Journal Article
T1 Path planning for indoor contact inspection tasks with UAVS
A1 González De Santos, Luis Miguel
A1 Martínez Sánchez, Joaquín
A1 González Jorge, Higinio
A1 Arias Sánchez, Pedro
K1 3311.02 Ingeniería de Control
K1 1203.25 Diseño de Sistemas Sensores
K1 1203.14 Sistemas de Control del Entorno
AB UAV technology has become a useful tool for the inspection of infrastructures. Structural Health Monitoring methods are already implementing these vehicles to obtain information about the condition of the structure. Several systems based on close range remote sensing and contact sensors have been developed. In both cases, in order to perform autonomous missions in hard accessible areas or with obstacles, a path planning algorithm that calculates the trajectory to be followed by the UAV to navigate these areas is mandatory. This works presents a UAV path planning algorithm developed to navigate indoors and outdoors. This algorithm does not only calculate the waypoints of the path, but the orientation of the vehicle for each location. This algorithm will support a specific UAV-based contact inspection of vertical structures. The required input data consist of a point cloud of the environment, the initial position of the UAV and the target point of the structure where the contact inspection will be performed.
PB ISPRS - International Archives of the Photogrammetry Remote Sensing and Spatial Information Sciences
SN 16821777
YR 2020
FD 2020-08-25
LK http://hdl.handle.net/11093/1862
UL http://hdl.handle.net/11093/1862
LA eng
NO ISPRS - International Archives of the Photogrammetry Remote Sensing and Spatial Information Sciences, XLIII-B4-2020, 345-351 (2020)
NO Universidade de Vigo | Ref. 00Vl 131H 641.02
DS Investigo
RD 21-abr-2025