The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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Articles | Volume XLIII-B4-2020
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLIII-B4-2020, 345–351, 2020
https://doi.org/10.5194/isprs-archives-XLIII-B4-2020-345-2020
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLIII-B4-2020, 345–351, 2020
https://doi.org/10.5194/isprs-archives-XLIII-B4-2020-345-2020

  25 Aug 2020

25 Aug 2020

PATH PLANNING FOR INDOOR CONTACT INSPECTION TASKS WITH UAVS

L. M. González-deSantos1, J. Martínez-Sánchez1, H. González-Jorge2, and P. Arias1 L. M. González-deSantos et al.
  • 1Geotech Group, Mining and Energy Engineering School, University of Vigo, Vigo, Spain
  • 2Geotech Group, Aerospace Engineering School, University of Vigo, Ourense, Spain

Keywords: Unmanned Aerial System, Industrial Inspection, Path Planning, navigation, Flight control, Non-destructive testing

Abstract. UAV technology has become a useful tool for the inspection of infrastructures. Structural Health Monitoring methods are already implementing these vehicles to obtain information about the condition of the structure. Several systems based on close range remote sensing and contact sensors have been developed. In both cases, in order to perform autonomous missions in hard accessible areas or with obstacles, a path planning algorithm that calculates the trajectory to be followed by the UAV to navigate these areas is mandatory. This works presents a UAV path planning algorithm developed to navigate indoors and outdoors. This algorithm does not only calculate the waypoints of the path, but the orientation of the vehicle for each location. This algorithm will support a specific UAV-based contact inspection of vertical structures. The required input data consist of a point cloud of the environment, the initial position of the UAV and the target point of the structure where the contact inspection will be performed.