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2D visual area coverage and path planning coupled with camera footprints
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0001-7631-002X
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0001-9701-4203
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0002-2001-7171
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2018 (English)In: Control Engineering Practice, ISSN 0967-0661, E-ISSN 1873-6939, Vol. 75, p. 1-16Article in journal (Refereed) 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.

Place, publisher, year, edition, pages
Elsevier, 2018. Vol. 75, p. 1-16
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
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
Projects
Collaborative Aerial Robotic Workers, AEROWORKS
Funder
EU, Horizon 2020, 644128
Note

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

Available from: 2018-03-26 Created: 2018-03-26 Last updated: 2018-08-09Bibliographically approved

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The full text will be freely available from 2020-06-01 11:15
Available from 2020-06-01 11:15

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

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