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CEO-MLCPP: Control-Efficient and Obstacle-Aware Multi-Layer Coverage Path Planner for 3D Reconstruction with UAVs

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Robot Intelligence Technology and Applications 7 (RiTA 2022)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 642))

Abstract

In this paper, we propose a novel model-based coverage path planner for the 3D reconstruction of a target structure with an unmanned aerial vehicle (UAV). The proposed method rapidly calculates initial viewpoints considering the ground sampling distance (GSD) by partitioning a structure by height. Then, optimal viewpoints are selected by checking the collision and calculating overlaps and coverage. Next, the newly developed collision-aware Traveling Salesman Problem (CTSP) is used to connect the optimal viewpoints while guaranteeing the shortest distance and obstacle avoidance. Finally, the resulting path is refined as a control-efficient trajectory that considers the dynamics of UAVs. The performance of the proposed algorithm is verified by experiments on diverse structures.

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Notes

  1. 1.

    https://github.com/engcang/CEO-MLCPP.

  2. 2.

    https://github.com/engcang/gazebo_maps.

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Acknowledgement

This paper was funded by Korea Electric Power Corporation (Development of Robot System for Patrol and Inspection of Underground Power Transmission Tunnels). The students are supported by BK21 FOUR.

Author information

Authors and Affiliations

  1. Korea Advanced Institute of Science and Technology (KAIST), Daejeon, 34141, Republic of Korea

    Eungchang Mason Lee, Seungwon Song, Duckyu Choi, Dongkyu Lee, Seunghyun Lee & Hyun Myung

  2. Korea Electronics Technology Institute (KETI), Seongnam-si, Gyeonggi-do, 13509, Republic of Korea

    Sungwook Jung

  3. KEPCO RI, Korea Electric Power Corporation, Daejeon, 34056, Republic of Korea

    Seoktae Kim

Authors
  1. Eungchang Mason Lee
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  2. Sungwook Jung
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  3. Seungwon Song
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  4. Duckyu Choi
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  5. Dongkyu Lee
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  6. Seunghyun Lee
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  7. Seoktae Kim
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  8. Hyun Myung
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Corresponding author

Correspondence to Hyun Myung .

Editor information

Editors and Affiliations

  1. School of Information and Communication Technology, Griffith University, Southport, Australia

    Jun Jo

  2. Department of Aerospace Engineering, KAIST, Daejeon, Korea (Republic of)

    Han-Lim Choi

  3. School of Information and Communication Technology, Griffith University, Southport, Australia

    Marde Helbig

  4. Department of Mechanical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, Korea (Republic of)

    Hyondong Oh

  5. Department of Mechanical Engineering, KAIST, Daejeon, Korea (Republic of)

    Jemin Hwangbo

  6. Department of Mechanical Engineering, KAIST, Daejeon, Korea (Republic of)

    Chang-Hun Lee

  7. School of Information and Communication Technology, Griffith University, Southport, Australia

    Bela Stantic

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Lee, E.M. et al. (2023). CEO-MLCPP: Control-Efficient and Obstacle-Aware Multi-Layer Coverage Path Planner for 3D Reconstruction with UAVs. In: Jo, J., et al. Robot Intelligence Technology and Applications 7. RiTA 2022. Lecture Notes in Networks and Systems, vol 642. Springer, Cham. https://doi.org/10.1007/978-3-031-26889-2_3

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