NDLI: UAV Path Planning for Structure Inspection in Windy Environments

Content Provider	Springer Nature Link
Author	Guerrero, Jose Alfredo Bestaoui, Yasmina
Copyright Year	2012
Abstract	In this paper, we consider the structure inspection problem using a miniature unmanned aerial vehicle (UAV). The influence of the wind on the UAV behavior and onboard energy limitations are important parameters that must be taken into account in the structure inspection problem. To tackle these problems, we derive three methods to inspect a structure. First, we develop a Zermelo-Traveling Salesman Problem (TSP) method to compute the optimal route to inspect a simple virtual structure. Second, we derive a method that combines meshing techniques with the Zermelo-TSP method. In this approach, the inspection coordinates for the interest points are obtained automatically by means of a meshing algorithm, then, the Zermelo-TSP method is used to compute the time-optimal route to inspect all the interest points in minimal time. Finally, we derive a method for structure inspection based on the Zermelo-Vehicle Routing Problem (VRP). These methods have been validated in a simulated environment.
Starting Page	297
Ending Page	311
Page Count	15
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	69
Issue Number	1-4
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2012-09-08
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Path planning Zermelo navigation Traveling salesman problem Vehicle routing problem Control, Robotics, Mechatronics Electrical Engineering Artificial Intelligence (incl. Robotics) Mechanical Engineering
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

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