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Computer Science > Robotics

arXiv:2304.10201 (cs)
[Submitted on 20 Apr 2023]

Title:UAV-based Receding Horizon Control for 3D Inspection Planning

Authors:Savvas Papaioannou, Panayiotis Kolios, Theocharis Theocharides, Christos G. Panayiotou, Marios M. Polycarpou
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Abstract: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.
Comments: 2022 International Conference on Unmanned Aircraft Systems (ICUAS), 21-24 June 2022, Dubrovnik, Croatia
Subjects: Robotics (cs.RO); Systems and Control (eess.SY)
Cite as: arXiv:2304.10201 [cs.RO]
  (or arXiv:2304.10201v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2304.10201
Related DOI: https://doi.org/10.1109/ICUAS54217.2022.9836051

Submission history

From: Savvas Papaioannou [view email]
[v1] Thu, 20 Apr 2023 10:42:18 UTC (5,072 KB)
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