Papaioannou, Savvas (KIOS CoE, University of Cyprus), Kolios, Panayiotis (University of Cyprus), Theocharides, Theocharis (University of Cyprus), Panayiotou, Christos (University of Cyprus), Polycarpou, Marios M. (University of Cyprus)

UAV-Based Receding Horizon Control for 3D Inspection Planning

Scheduled for presentation during the Regular Session "Path Planning IV" (FrA4), Friday, June 24, 2022, 09:00−09:20, Divona-2

2022 International Conference on Unmanned Aircraft Systems (ICUAS), June 21-24, 2022, Dubrovnik, Croatia

This information is tentative and subject to change. Compiled on April 25, 2024

Abstract

Nowadays, unmanned aerial vehicles or UAVs are being used for a wide range of tasks, including infrastructure inspection, automated monitoring and coverage. This paper investigates the problem of 3D inspection planning with an autonomous UAV agent which is subject to dynamical and sensing constraints. We propose a receding horizon 3D inspection planning control approach for generating optimal trajectories which enable an autonomous UAV agent to inspect a finite number of feature-points scattered on the surface of a cuboid-like structure of interest. The inspection planning problem is formulated as a constrained open-loop optimal control problem and is solved using mixed integer programming (MIP) optimization. Quantitative and qualitative evaluation demonstrates the effectiveness of the proposed approach.