Towards fully automated inspection of large components with UAVs: offline path planning

  • Automation mechanisms are increasingly established in the field of visual inspections. UAVs can be used for particularly large components, such as those used in ship production and for critical infrastructures. This paper concentrates on the problem of visual inspection in the field of perspective-dependent route planning. It is shown how the requirements for such a system can be implemented and elaborated. Furthermore we investigate how sensor positions can be calculated offline, based on optical and geometrical requirements and how a trajectory can be planned which contains the found sensor positions for each given area on the component. It is shown how the systems architecture can be designed in order to be able to adapt it to different requirements for the planning of sensor positions and trajectory. The implementation was tested in a simulation environment, evaluated using a benchmark data set and it was shown how above-average results can be achieved on this data set.

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Author:Constantin WanningerORCiDGND, Raphael Katschinksy, Alwin HoffmannORCiDGND, Martin SchörnerORCiDGND, Wolfgang ReifORCiDGND
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Parent Title (English):Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO, July 7-9, 2020
Place of publication:Setúbal
Editor:Oleg Gusikhin, Kurosh Madani, Janan Zaytoon
Type:Part of a Book
Year of first Publication:2020
Publishing Institution:Universität Augsburg
Release Date:2022/08/22
First Page:71
Last Page:80
Institutes:Fakultät für Angewandte Informatik
Fakultät für Angewandte Informatik / Institut für Informatik
Fakultät für Angewandte Informatik / Institut für Software & Systems Engineering
Fakultät für Angewandte Informatik / Institut für Informatik / Lehrstuhl für Softwaretechnik
Fakultät für Angewandte Informatik / Institut für Informatik / Lehrstuhl für Softwaretechnik / Lehrstuhl für Softwaretechnik
Dewey Decimal Classification:0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik
Licence (German):CC-BY-NC-ND 4.0: Creative Commons: Namensnennung - Nicht kommerziell - Keine Bearbeitung (mit Print on Demand)