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HD Camera-Equipped UAV Trajectory Planning for Gantry Crane Inspection.
- Source :
-
Remote Sensing . Apr2022, Vol. 14 Issue 7, p1658. 14p. - Publication Year :
- 2022
-
Abstract
- While Unmanned Aerial Vehicles (UAVs) can be a valuable solution for the damage inspection of port machinery infrastructures, their trajectories are still prone to collision risks, trajectory non-smoothness, and large deviations. This research introduces a trajectory optimization method for inspecting vulnerable parts of a gantry crane by a UAV fitted with a high-definition (HD) camera. We first analyze the vulnerable parts of a gantry crane, then use the A* algorithm to plan a path for the UAV. The trajectory optimization process is divided into two steps, the first is a trajectory correction method and the second is an objective function that applies a minimum snap method while taking into consideration flight corridor constraints. The experimental simulation results show that, compared with previous methods, our approach can not only generate a collision-free and smooth trajectory but also shorten the trajectory length significantly while substantially reducing the maximum deviation average deviation distances. The simulation results show that this modelling approach provides a valuable solution for UAV trajectory planning for gantry crane inspection. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 20724292
- Volume :
- 14
- Issue :
- 7
- Database :
- Academic Search Index
- Journal :
- Remote Sensing
- Publication Type :
- Academic Journal
- Accession number :
- 156344671
- Full Text :
- https://doi.org/10.3390/rs14071658