A Framework for Coverage Path Planning Optimization Based on Point Cloud for Structural Inspection

A Framework for Coverage Path Planning Optimization Based on Point Cloud for Structural Inspection

Different practical applications have emerged in the last few years, requiring periodic and detailed inspections to verify possible structural changes. Inspections using Unmanned Aerial Vehicles (UAVs) should minimize flight time due to battery time restrictions and identify the terrain's topog...

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Bibliographic Details
Published in:Sensors (Basel, Switzerland) Vol. 21; no. 2; p. 570
Main Authors: Biundini, Iago Z, Pinto, Milena F, Melo, Aurelio G, Marcato, Andre L M, Honório, Leonardo M, Aguiar, Maria J R
Format: Journal Article
Language:English
Published: Switzerland MDPI AG 15-01-2021
MDPI
Subjects:
3D inspection
Aircraft
coverage path planning
Geometry
Inspection
Inspections
optimization
Optimization algorithms
Path planning
Photometry
point cloud analysis
Robotics
Robots
Terrain
UAV
Unmanned aerial vehicles
3D inspection
point cloud analysis
UAV
coverage path planning
optimization
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Summary:Different practical applications have emerged in the last few years, requiring periodic and detailed inspections to verify possible structural changes. Inspections using Unmanned Aerial Vehicles (UAVs) should minimize flight time due to battery time restrictions and identify the terrain's topographic features. In this sense, Coverage Path Planning (CPP) aims at finding the best path to coverage of a determined area respecting the operation's restrictions. Photometric information from the terrain is used to create routes or even refine paths already created. Therefore, this research's main contribution is developing a methodology that uses a metaheuristic algorithm based on point cloud data to inspect slope and dams structures. The technique was applied in a simulated and real scenario to verify its effectiveness. The results showed an increasing 3D reconstructions' quality observing optimizing photometric and mission time criteria.
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ISSN:1424-8220
1424-8220
DOI:10.3390/s21020570