Naslov
Multi-UAV trajectory planning for 3D visual inspection

Autori
Crnković, Bojan ; Ivić, Stefan ; Grbčić, Luka ; Matleković, Lea

Vrsta, podvrsta i kategorija rada
Sažeci sa skupova, sažetak, znanstveni

Izvornik
Book of Abstracts, 7th Croatian Mathematical Congress / - Split, 2022, 34-34

ISBN
978-953-7155-24-7

Skup
7th Croatian Mathematical Congress

Mjesto i datum
Split, Hrvatska, 15.06.2022. - 18.06.2022

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
heat equation, search, multi-agent system

Sažetak
This work presents a new trajectory planning algorithm for three-dimensional autonomous UAV volume coverage and visual inspection. The algorithm is an extension of a HEDAC multi-agent area coverage algorithm for three-dimensional domains. With a given target exploration density field, the algorithm designs a potential field to achieve the minimization of the remaining density and generate trajectories using potential gradients to direct UAVs to the regions of higher potential, i.e., higher values of remaining density. The proposed algorithm provides collision avoidance, load balancing, and successful planning of visual inspection. It offers flexibility in various setup parameters and is applicable in real-world inspection tasks which are demonstrated with realistic simulations of visual inspection.

Izvorni jezik
Engleski

Znanstvena područja
Matematika, Računarstvo, Interdisciplinarne tehničke znanosti

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