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A Numerical Approach to Solving the Aerial Inspection Problem

  • Radosław GryminEmail author
  • Wojciech Bożejko
  • Jarosław Pempera
Conference paper
Part of the Topics in Intelligent Engineering and Informatics book series (TIEI, volume 15)

Abstract

An autonomous aerial inspection using unmanned aerial vehicles (UAVs) requires effective and nearly optimal algorithms for scheduling UAVs. A UAV performing aerial inspection does not need to take photos of inspected objects from exact given points in space. For every inspected object, there is a feasible area (or point) from which clear photos can be taken. The optimization problem is to find points from these areas from which UAV should take photos of objects. These points should be chosen in such a way that the scheduling algorithm, which takes these points as its input, will produce a valuable solution. In this work, for the given feasible areas we find the sequence of visiting these areas and points, to minimize the length of the Hamiltonian cycle consisting of chosen points in a determined sequence.

Keywords

TSPN UAV Path planning 

Notes

Acknowledgments

This work is partially supported by the National Science Centre of Poland, grant OPUS no. DEC 2017/25/B/ST7/02181 and by the grant no. POIR.01. 01.01-00-1176/15.

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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Radosław Grymin
    • 1
    Email author
  • Wojciech Bożejko
    • 1
  • Jarosław Pempera
    • 1
  1. 1.Faculty of Electronics, Department of Control Systems and MechatronicsWrocław University of Science and TechnologyWrocławPoland

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