Cristin-resultat-ID: 1782832
Sist endret: 26. februar 2020 11:16
NVI-rapporteringsår: 2019
Resultat
Vitenskapelig artikkel
2019

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

Bidragsytere:
  • Florin Stoican
  • Ionela Prodan
  • Esten Ingar Grøtli og
  • Thinh Ngoc Nguyen

Tidsskrift

IEEE International Conference on Control and Automation
ISSN 1948-3449
NVI-nivå 1

Om resultatet

Vitenskapelig artikkel
Publiseringsår: 2019
Volum: 2019-July
Sider: 1349 - 1354

Importkilder

Scopus-ID: 2-s2.0-85075798436

Beskrivelse Beskrivelse

Tittel

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

Sammendrag

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.

Bidragsytere

Florin Stoican

  • Tilknyttet:
    Forfatter
    ved Universitatea 'Politehnica' din Bucuresti

Ionela Prodan

  • Tilknyttet:
    Forfatter
    ved Institut Polytechnique de Grenoble
Aktiv cristin-person

Esten Ingar Grøtli

  • Tilknyttet:
    Forfatter
    ved Mathematics and Cybernetics ved SINTEF AS

Thinh Ngoc Nguyen

  • Tilknyttet:
    Forfatter
    ved Institut Polytechnique de Grenoble
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