TY - GEN
T1 - The navigation and control study of UAV for cross-domain bridge collaboration detection
AU - Yan, Yuchen
AU - Zhang, Yizhai
AU - Huang, Panfeng
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/7/15
Y1 - 2021/7/15
N2 - The automation of bridge detection will become one major trend in the future. Cross-domain collaborative robotic detection is a promising way for intelligent bridge detection. Among various robots, the goal of UAV is to obtain a quick and full-coverage detection, and guide the other robots to perform more detailed detections. Because the UAV has superior maneuverability than other robots. However, it is very challenging for UAV to autonomously realize the quick full-coverage detection, considering the complicated operation environment, such as the pier obstruction problem. In this paper, we proposed a novel path planning method for UAV to address full-coverage detection problem. In addition, we designed a controller for UAV to track the planned paths. The simulation results are used to verify the above studies.
AB - The automation of bridge detection will become one major trend in the future. Cross-domain collaborative robotic detection is a promising way for intelligent bridge detection. Among various robots, the goal of UAV is to obtain a quick and full-coverage detection, and guide the other robots to perform more detailed detections. Because the UAV has superior maneuverability than other robots. However, it is very challenging for UAV to autonomously realize the quick full-coverage detection, considering the complicated operation environment, such as the pier obstruction problem. In this paper, we proposed a novel path planning method for UAV to address full-coverage detection problem. In addition, we designed a controller for UAV to track the planned paths. The simulation results are used to verify the above studies.
UR - http://www.scopus.com/inward/record.url?scp=85115359873&partnerID=8YFLogxK
U2 - 10.1109/RCAR52367.2021.9517661
DO - 10.1109/RCAR52367.2021.9517661
M3 - 会议稿件
AN - SCOPUS:85115359873
T3 - 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021
SP - 788
EP - 793
BT - 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021
Y2 - 15 July 2021 through 19 July 2021
ER -