Modeling and Roadmap Generation for Truss Inspection by Small UAS
Modeling and Roadmap Generation for Truss Inspection by Small UAS
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DOI：
10.23919/ecc.2018.8550276
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发表时间：
2018-06
期刊：
影响因子：
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通讯作者：
Arun Das;C. Woolsey
中科院分区：
文献类型：
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作者：
Arun Das;C. Woolsey
小型无人驾驶飞机系统（UAS）可以提高效率，并在检查桁架支撑结构（如钢桥）时降低对人类的风险。本文描述了一种方法来数学表示桁架，并随后计划一个有效的，无碰撞的路径从一个给定的起始位置到一个给定的目标。该算法生成一个确定性的路线图，连接节点附近产生的关节的结构。然后使用惰性A* 算法搜索该路线图。仿真结果验证了算法的有效性。与概率路线图方法的比较表明了该算法的有效性。
Small unmanned aircraft systems (UAS) can increase efficiency and reduce risk to humans during the inspection of truss-supported structures such as steel bridges. This paper describes a method to mathematically represent a truss and subsequently to plan an efficient, collision-free path from a given starting position to a given goal. The algorithm generates a deterministic roadmap which connects nodes that are generated near the joints of the structure. This roadmap is then searched for the path using a lazy A* algorithm. Simulation results show the functionality of the algorithm. Comparison with a probabilistic roadmap method indicates the proposed algorithm’s efficiency.