A hierarchical multi-UAV cooperative framework for infrastructure inspection and reconstruction
作者机构：Department of Mechanical and Automation EngineeringThe Chinese University of Hong KongHong KongShatinNTChina
出 版 物：《Control Theory and Technology》 (控制理论与技术（英文版）)
年 卷 期：2024年第22卷第3期
页 面：394-405页
核心收录：
学科分类：1201[管理学-管理科学与工程(可授管理学、工学学位)] 08[工学] 081402[工学-结构工程] 082503[工学-航空宇航制造工程] 0825[工学-航空宇航科学与技术] 0814[工学-土木工程]
基 金：supported in part by the Research Grants Council of Hong Kong SAR(Nos.14209020,14206821) in part by the Hong Kong Region Centre for Logistics Robotics(HKCLR)
主 题：Multi-UAV Coverage path planning Infrastructure inspection and reconstruction
摘 要：Unmanned aerial vehicles(UAVs)are emerging as a powerful tool for inspections and repair works in large-scale and unstructured 3D infrastructures,but current approaches take a long time to cover the entire *** using UAVs for inspections and repair works puts forward a requirement of improving time efficiency in large-scale and cluster *** paper presents a hierarchical multi-UAV cooperative framework for infrastructure inspection and reconstruction to balance the workload and reduce the overall task completion *** proposed framework consists of two stages,the exploration stage and the exploitation stage,resolving the task in a sequential *** the exploration stage,the density map is developed to update global and local information for dynamic load-balanced area partition based on reconstructability and relative positions of UAVs,and the Voronoi-based planner is used to enable the UAVs to reach their best *** obtaining the global map,viewpoints are generated and divided while taking into account the battery capacity of each ***,a shortest path planning method is used to minimize the total traveling cost of these viewpoints for obtaining a high-quality *** experiments are conducted in both a simulated and real environment to show the time efficiency,robustness,and effectiveness of the proposed ***,the whole system is implemented in real applications.
维普期刊数据库