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2D visual area coverage and path planning coupled with camera footprints
Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.ORCID-id: 0000-0001-7631-002X
Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.ORCID-id: 0000-0001-9701-4203
Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.ORCID-id: 0000-0002-2001-7171
Vise andre og tillknytning
2018 (engelsk)Inngår i: Control Engineering Practice, ISSN 0967-0661, E-ISSN 1873-6939, Vol. 75, s. 1-16Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

Unmanned Aerial Vehicles (UAVs) equipped with visual sensors are widely used in area coverage missions. Guaranteeing full coverage coupled with camera footprint is one of the most challenging tasks, thus, in the presented novel approach a coverage path planner for the inspection of 2D areas is established, a 3 Degree of Freedom (DoF) camera movement is considered and the shortest path from the taking off to the landing station is generated, while covering the target area. The proposed scheme requires a priori information about the boundaries of the target area and generates the paths in an offline process. The efficacy and the overall performance of the proposed method has been experimentally evaluated in multiple indoor inspection experiments with convex and non convex areas. Furthermore, the image streams collected during the coverage tasks were post-processed using image stitching for obtaining a single overview of the covered scene.

sted, utgiver, år, opplag, sider
Elsevier, 2018. Vol. 75, s. 1-16
HSV kategori
Forskningsprogram
Reglerteknik
Identifikatorer
URN: urn:nbn:se:ltu:diva-68057DOI: 10.1016/j.conengprac.2018.03.011ISI: 000433648100001Scopus ID: 2-s2.0-85044107984OAI: oai:DiVA.org:ltu-68057DiVA, id: diva2:1193145
Prosjekter
Collaborative Aerial Robotic Workers, AEROWORKS
Forskningsfinansiär
EU, Horizon 2020, 644128
Merknad

Validerad;2018;Nivå 2;2018-03-26 (andbra)

Tilgjengelig fra: 2018-03-26 Laget: 2018-03-26 Sist oppdatert: 2018-08-09bibliografisk kontrollert

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Fulltekst tilgjengelig fra 2020-06-01 11:15
Tilgjengelig fra 2020-06-01 11:15

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Mansouri, Sina SharifKanellakis, ChristoforosGeorgoulas, GeorgiosKominiak, DariuszGustafsson, ThomasNikolakopoulos, George

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