協調型 aerial ロボットによる屋内・屋外3D環境の自動リアルタイム検査
Automated Real-Time Inspection in Indoor and Outdoor 3D Environments with Cooperative Aerial Robots
異種UAVチームが協調して未知の3D構造物をマッピングし、衝突回避した最適検査経路を生成するシステムを提案し、Gazeboシミュレーションで有効性を示した。
著者: Andreas Anastasiou, Angelos Zacharia, Savvas Papaioannou, Panayiotis Kolios, Christos G. Panayiotou, Marios M. Polycarpou
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
This work introduces a cooperative inspection system designed to efficiently control and coordinate a team of distributed heterogeneous UAV agents for the inspection of 3D structures in cluttered, unknown spaces. Our proposed approach employs a two-stage innovative methodology. Initially, it leverages the complementary sensing capabilities of the robots to cooperatively map the unknown environment. It then generates optimized, collision-free inspection paths, thereby ensuring comprehensive coverage of the structure's surface area. The effectiveness of our system is demonstrated through qualitative and quantitative results from extensive Gazebo-based simulations that closely replicate real-world inspection scenarios, highlighting its ability to thoroughly inspect real-world-like 3D structures.
