A complete coverage algorithm for 3D structural inspection using an autonomous unmanned aerial vehicle

Venkat Garlapati, Prithviraj Dasgupta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a novel algorithm for complete coverage of three-dimensional structures to address the problem of autonomous structural inspection using an Unmanned Aerial Vehicle (UAV). The proposed approach uses a technique of cellular decomposition based on Morse decomposition to decompose the 3D target structure into 2D coverable faces that are subsequently connected using a graph-based representation. We then use graph traversal techniques such as the Traveling Salesman Problem (TSP) to generate a flight coverage path through the decomposed faces for a UAV to completely cover the target structure, while reducing the coverage time and distance. Experimental results show that our approach guarantees complete coverage of the target structure.

Original languageEnglish (US)
Title of host publicationProceedings of the 31st International Florida Artificial Intelligence Research Society Conference, FLAIRS 2018
EditorsKeith Brawner, Vasile Rus
PublisherAAAI Press
Pages342-347
Number of pages6
ISBN (Electronic)9781577357964
StatePublished - Jan 1 2018
Event31st International Florida Artificial Intelligence Research Society Conference, FLAIRS 2018 - Melbourne, United States
Duration: May 21 2018May 23 2018

Publication series

NameProceedings of the 31st International Florida Artificial Intelligence Research Society Conference, FLAIRS 2018

Conference

Conference31st International Florida Artificial Intelligence Research Society Conference, FLAIRS 2018
CountryUnited States
CityMelbourne
Period5/21/185/23/18

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ASJC Scopus subject areas

  • Artificial Intelligence
  • Software

Cite this

Garlapati, V., & Dasgupta, P. (2018). A complete coverage algorithm for 3D structural inspection using an autonomous unmanned aerial vehicle. In K. Brawner, & V. Rus (Eds.), Proceedings of the 31st International Florida Artificial Intelligence Research Society Conference, FLAIRS 2018 (pp. 342-347). (Proceedings of the 31st International Florida Artificial Intelligence Research Society Conference, FLAIRS 2018). AAAI Press.