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Aircraft Inspection Using Unmanned Aerial Vehicles
| Content Provider | Semantic Scholar |
|---|---|
| Author | Almadhoun, Randa Taha, Tarek Seneviratne, L. Dias, Jorge Cai, Guowei |
| Copyright Year | 2016 |
| Abstract | In this paper, we propose a coverage planning algorithm for inspecting an aircraft, using an Unmanned Ariel Vehicle (UAV). Inspecting structures (e.g. bridges, buildings, ships, wind turbines, aircrafts) is considered a hard task for humans to perform, and of critical nature since missing any detail could affect the structure’s performance and integrity. Additionally, structure inspection is a time and resource intensive task that should be performed as efficiently and accurately as possible. In this paper we introduce a search space coverage path planner (SSCPP) with a heuristic reward function that exploits our knowledge of the structure model, and the UAV’s onboard sensors’ models to generate resolution optimal paths that maximizes coverage. The proposed method follows a model based coverage path planning approach to generate an optimized path that passes through a set of admissible waypoints to fully cover a complex structure. The algorithm predicts the coverage percentage by using an existing model of the complex structure as a reference. A set of experiments were conducted in a simulated environment to test the validity of the proposed algorithm. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://www.imavs.org/papers/2016/43_IMAV2016_Proceedings.pdf |
| Alternate Webpage(s) | http://home.isr.uc.pt/~jorge/wp-content/uploads/OP336.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
