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Inspection Trajectory Planning for 3D Structures under a Mixed-Integer Framework

Inspection Trajectory Planning for 3D Structures under a Mixed-Integer Framework

Category
Academic article
Abstract
This paper extends our previous work on constrained trajectory generation for UAVs (Unmanned Aerial Vehicles) with the task of fully covering an a priori known 3D structure. The novelty resides in the geometrical approach we adopt to describe sufficient coverage constraints in a mixed-integer formulation.
The combined use of hyperplane arrangement, cell merging procedures and mixed-integer formulations provides feasible “viewpoint” regions through which the trajectory has to pass. The selected viewpoints with their corresponding feasible cells allow the vehicle to fully cover the 3D structure. The tools used and the results obtained are exemplified over a particular quadcopter system.
Client
  • Research Council of Norway (RCN) / 268492
Language
English
Author(s)
Affiliation
  • 'Politehnica' University of Bucharest
  • Grenoble Institute of Technology
  • SINTEF Digital / Mathematics and Cybernetics
Year
2019
Published in
IEEE International Conference on Control and Automation
ISSN
1948-3449
Publisher
IEEE Press
Volume
2019-July
Page(s)
1349 - 1354