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HD Camera-Equipped UAV Trajectory Planning for Gantry Crane Inspection
| Content Provider | MDPI |
|---|---|
| Author | Tang, Gang Gu, Jiaxu Zhu, Weidong Claramunt, Christophe Zhou, Peipei |
| Copyright Year | 2022 |
| Description | While Unmanned Aerial Vehicles (UAVs) can be a valuable solution for the damage inspection of port machinery infrastructures, their trajectories are still prone to collision risks, trajectory non-smoothness, and large deviations. This research introduces a trajectory optimization method for inspecting vulnerable parts of a gantry crane by a UAV fitted with a high-definition (HD) camera. We first analyze the vulnerable parts of a gantry crane, then use the A* algorithm to plan a path for the UAV. The trajectory optimization process is divided into two steps, the first is a trajectory correction method and the second is an objective function that applies a minimum snap method while taking into consideration flight corridor constraints. The experimental simulation results show that, compared with previous methods, our approach can not only generate a collision-free and smooth trajectory but also shorten the trajectory length significantly while substantially reducing the maximum deviation average deviation distances. The simulation results show that this modelling approach provides a valuable solution for UAV trajectory planning for gantry crane inspection. |
| Starting Page | 1658 |
| e-ISSN | 20724292 |
| DOI | 10.3390/rs14071658 |
| Journal | Remote Sensing |
| Issue Number | 7 |
| Volume Number | 14 |
| Language | English |
| Publisher | MDPI |
| Publisher Date | 2022-03-30 |
| Access Restriction | Open |
| Subject Keyword | Remote Sensing Industrial Engineering Damage Inspection Gantry Crane Trajectory Optimization Minimum Snap |
| Content Type | Text |
| Resource Type | Article |
