UAVによる3次元検査計画のためのリcedingホライズン制御
UAV-based Receding Horizon Control for 3D Inspection Planning
動的・センシング制約下で、直方体状構造物表面の特徴点を検査するUAVの最適軌道を、リcedingホライズン制御と混合整数計画で生成する手法を提案。
著者: Savvas Papaioannou, Panayiotis Kolios, Theocharis Theocharides, Christos G. Panayiotou, Marios M. Polycarpou
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Nowadays, unmanned aerial vehicles or UAVs are being used for a wide range of tasks, including infrastructure inspection, automated monitoring and coverage. This paper investigates the problem of 3D inspection planning with an autonomous UAV agent which is subject to dynamical and sensing constraints. We propose a receding horizon 3D inspection planning control approach for generating optimal trajectories which enable an autonomous UAV agent to inspect a finite number of feature-points scattered on the surface of a cuboid-like structure of interest. The inspection planning problem is formulated as a constrained open-loop optimal control problem and is solved using mixed integer programming (MIP) optimization. Quantitative and qualitative evaluation demonstrates the effectiveness of the proposed approach.
