优化自动无人机系统的结构检测路径规划

IF 9.6 1区 工程技术 Q1 CONSTRUCTION & BUILDING TECHNOLOGY Automation in Construction Pub Date : 2024-09-12 DOI:10.1016/j.autcon.2024.105764
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引用次数: 0

摘要

鉴于基础设施的规模和复杂性,基于无人机系统(UAS)的结构检测自动化已获得了显著的发展。基于无人机系统的检测的核心问题是选择最佳飞行路径,以实现任务目标,同时最大限度地减少飞行时间。本文提出了一种有效的两阶段方法,以保证覆盖范围为约束条件,确保损伤可探测性,同时以最小化路径长度为目标。与直接同时优化所有自由度 (DOF) 的方法相比,该方法首先采用遗传算法确定视点位置,然后采用贪婪算法计算摄像机姿势。灵敏度分析表明了这种方法的适用范围和优越性,与直接的 5-DOF 优化相比,路径长度至少缩短了 30%。此外,还介绍了一些应用实例,包括重点检查和部分空间检查,展示了所提方法的灵活性,以满足现实世界的要求。结果凸显了该方法的可行性,有助于将自动化纳入基于无人机系统的结构检测。
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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.

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来源期刊
Automation in Construction
Automation in Construction 工程技术-工程:土木
CiteScore
19.20
自引率
16.50%
发文量
563
审稿时长
8.5 months
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.
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