{"title":"优化自动无人机系统的结构检测路径规划","authors":"","doi":"10.1016/j.autcon.2024.105764","DOIUrl":null,"url":null,"abstract":"<div><p>Automation in Unmanned Aerial Systems (UAS)-based structural inspections has gained significant traction given the scale and complexity of infrastructure. A core problem in UAS-based inspection is electing an optimal flight path to achieve the mission objectives while minimizing flight time. This paper presents an effective two-stage method that guarantees coverage as a constraint to ensure damage detectability, while minimizing path length as an objective. A genetic algorithm first determines viewpoint positions, and a greedy algorithm calculates the camera poses, as opposed to directly optimizing all degrees of freedom (DOF) simultaneously. A sensitivity analysis demonstrates the range of applicability and superiority of this formulation over direct 5-DOF optimization by at least 30 % shorter path length. Applied examples, including focused and partial space inspections, are also presented, demonstrating the flexibility of the proposed method to meet real-world requirements. The results highlight the feasibility of the approach and contribute to incorporating automation into UAS-based structural inspections.</p></div>","PeriodicalId":8660,"journal":{"name":"Automation in Construction","volume":null,"pages":null},"PeriodicalIF":9.6000,"publicationDate":"2024-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0926580524005004/pdfft?md5=95ccd71e68473fa7c00b9374cd09fe86&pid=1-s2.0-S0926580524005004-main.pdf","citationCount":"0","resultStr":"{\"title\":\"Optimized structural inspection path planning for automated unmanned aerial systems\",\"authors\":\"\",\"doi\":\"10.1016/j.autcon.2024.105764\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><p>Automation in Unmanned Aerial Systems (UAS)-based structural inspections has gained significant traction given the scale and complexity of infrastructure. A core problem in UAS-based inspection is electing an optimal flight path to achieve the mission objectives while minimizing flight time. This paper presents an effective two-stage method that guarantees coverage as a constraint to ensure damage detectability, while minimizing path length as an objective. A genetic algorithm first determines viewpoint positions, and a greedy algorithm calculates the camera poses, as opposed to directly optimizing all degrees of freedom (DOF) simultaneously. A sensitivity analysis demonstrates the range of applicability and superiority of this formulation over direct 5-DOF optimization by at least 30 % shorter path length. Applied examples, including focused and partial space inspections, are also presented, demonstrating the flexibility of the proposed method to meet real-world requirements. The results highlight the feasibility of the approach and contribute to incorporating automation into UAS-based structural inspections.</p></div>\",\"PeriodicalId\":8660,\"journal\":{\"name\":\"Automation in Construction\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":9.6000,\"publicationDate\":\"2024-09-12\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://www.sciencedirect.com/science/article/pii/S0926580524005004/pdfft?md5=95ccd71e68473fa7c00b9374cd09fe86&pid=1-s2.0-S0926580524005004-main.pdf\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Automation in Construction\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S0926580524005004\",\"RegionNum\":1,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"CONSTRUCTION & BUILDING TECHNOLOGY\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Automation in Construction","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0926580524005004","RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"CONSTRUCTION & BUILDING TECHNOLOGY","Score":null,"Total":0}
Optimized structural inspection path planning for automated unmanned aerial systems
Automation in Unmanned Aerial Systems (UAS)-based structural inspections has gained significant traction given the scale and complexity of infrastructure. A core problem in UAS-based inspection is electing an optimal flight path to achieve the mission objectives while minimizing flight time. This paper presents an effective two-stage method that guarantees coverage as a constraint to ensure damage detectability, while minimizing path length as an objective. A genetic algorithm first determines viewpoint positions, and a greedy algorithm calculates the camera poses, as opposed to directly optimizing all degrees of freedom (DOF) simultaneously. A sensitivity analysis demonstrates the range of applicability and superiority of this formulation over direct 5-DOF optimization by at least 30 % shorter path length. Applied examples, including focused and partial space inspections, are also presented, demonstrating the flexibility of the proposed method to meet real-world requirements. The results highlight the feasibility of the approach and contribute to incorporating automation into UAS-based structural inspections.
期刊介绍:
Automation in Construction is an international journal that focuses on publishing original research papers related to the use of Information Technologies in various aspects of the construction industry. The journal covers topics such as design, engineering, construction technologies, and the maintenance and management of constructed facilities.
The scope of Automation in Construction is extensive and covers all stages of the construction life cycle. This includes initial planning and design, construction of the facility, operation and maintenance, as well as the eventual dismantling and recycling of buildings and engineering structures.