论文标题
3D视觉检查复杂结构的多动物轨迹计划
Multi-UAV trajectory planning for 3D visual inspection of complex structures
论文作者
论文摘要
自主无人机在基础架构检查任务上的应用为缩短时间，安全性和成本效益方面提供了好处。本文介绍了基于热方程驱动区域覆盖范围（HEDAC）算法的三维自动多动物体积覆盖范围和基础设施的视觉检查轨迹计划。该方法使用潜在的字段生成轨迹，并实现距离字段以防止碰撞并确定无人机的相机方向。在视觉检查复杂的结构（例如风力涡轮机和桥梁）时，它成功地实现了覆盖范围，通过允许在相同条件下检查更多的表面积，超过了最先进的方法。提出的轨迹计划方法在各种设置参数中提供了灵活性，适用于现实世界检查任务。最后，如果提高其计算效率，则提出的方法可能会应用于不同的自主无人机任务，甚至可以用作无人机运动控制方法。
The application of autonomous UAVs to infrastructure inspection tasks provides benefits in terms of operation time reduction, safety, and cost-effectiveness. This paper presents trajectory planning for three-dimensional autonomous multi-UAV volume coverage and visual inspection of infrastructure based on the Heat Equation Driven Area Coverage (HEDAC) algorithm. The method generates trajectories using a potential field and implements distance fields to prevent collisions and to determine UAVs' camera orientation. It successfully achieves coverage during the visual inspection of complex structures such as a wind turbine and a bridge, outperforming a state-of-the-art method by allowing more surface area to be inspected under the same conditions. The presented trajectory planning method offers flexibility in various setup parameters and is applicable to real-world inspection tasks. Conclusively, the proposed methodology could potentially be applied to different autonomous UAV tasks, or even utilized as a UAV motion control method if its computational efficiency is improved.
