A Numerical Approach to Solving the Aerial Inspection Problem
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.
KeywordsTSPN UAV Path planning
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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