UAV payload with collision mitigation for contact inspection

González-deSantos, Luis Miguel; Martínez-Sánchez, J.; González-Jorge, H.; Navarro-Medina, Fermín; Arias, Pedro

doi:10.1016/j.autcon.2020.103200

Cited by 36 publications

(26 citation statements)

References 21 publications

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“…A similar procedure to the location of the initial position after the take-off maneuver is implemented for the final position, but in this case, the target orientation vector is perpendicular to the wall and the offset distance was set to 1.5 m. As a result, the path is calculated for the UAV to navigate from the initial position to the final POSE (position and orientation) to enable the contact inspection. At this point, the contact-inspection system developed in previous works [ 11 ] takes control of the vehicle to drive the approach to the stable contact.…”

Section: Methodsmentioning

confidence: 99%

“…A challenging issue for UAVs to implement contact inspection comes with the lack of robustness in GNSS (Global Navigation Satellite System) based location, such as GPS, in the vicinity of a large structure [ 10 ]. Therefore, smart payloads providing UAVs with location (position and orientation) and collision mitigation are proposed as a mechanism to convert general-purpose drones into contact inspection systems [ 11 ].…”

Section: Introductionmentioning

confidence: 99%

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Indoor Path-Planning Algorithm for UAV-Based Contact Inspection

González-deSantos

Frías

Martínez-Sánchez

et al. 2021

Sensors

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Nowadays, unmanned aerial vehicles (UAVs) are extensively used for multiple purposes, such as infrastructure inspections or surveillance. This paper presents a real-time path planning algorithm in indoor environments designed to perform contact inspection tasks using UAVs. The only input used by this algorithm is the point cloud of the building where the UAV is going to navigate. The algorithm is divided into two main parts. The first one is the pre-processing algorithm that processes the point cloud, segmenting it into rooms and discretizing each room. The second part is the path planning algorithm that has to be executed in real time. In this way, all the computational load is in the first step, which is pre-processed, making the path calculation algorithm faster. The method has been tested in different buildings, measuring the execution time for different paths calculations. As can be seen in the results section, the developed algorithm is able to calculate a new path in 8–9 milliseconds. The developed algorithm fulfils the execution time restrictions, and it has proven to be reliable for route calculation.

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Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Indoor Path-Planning Algorithm for UAV-Based Contact Inspection

González-deSantos

Frías

Martínez-Sánchez

et al. 2021

Sensors

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show abstract

“…The developed methodology is applied to contact inspection tasks indoors and outdoors. Authors have already developed a payload for UAVs to perform semi-autonomous contact inspection tasks in vertical structures (González-deSantos et al, 2020 , which control the approaching and stabilized contact of the UAV to the structure to be inspected. The main objective of the developed algorithm is to obtain and plan the path to navigate from the initial point, where the UAV is landed, to an oriented point in front of the structure where the payload control is capable of managing the approaching movements to perform the contact inspection.…”

Section: Related Workmentioning

confidence: 99%

“…As it has been said before, this path planning algorithm was developed specifically for UAVs to navigate and perform a completely autonomous contact inspection task with the system developed in previous works (González-de Santos et al, 2019;González-deSantos et al, 2020 (Figure 8). The general operation consists of a UAV landed on the floor and has to take off at the beginning of the mission.…”

mentioning

confidence: 99%

Path Planning for Indoor Contact Inspection Tasks With Uavs

González-deSantos

Martínez-Sánchez

González-Jorge

et al. 2020

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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Abstract. UAV technology has become a useful tool for the inspection of infrastructures. Structural Health Monitoring methods are already implementing these vehicles to obtain information about the condition of the structure. Several systems based on close range remote sensing and contact sensors have been developed. In both cases, in order to perform autonomous missions in hard accessible areas or with obstacles, a path planning algorithm that calculates the trajectory to be followed by the UAV to navigate these areas is mandatory. This works presents a UAV path planning algorithm developed to navigate indoors and outdoors. This algorithm does not only calculate the waypoints of the path, but the orientation of the vehicle for each location. This algorithm will support a specific UAV-based contact inspection of vertical structures. The required input data consist of a point cloud of the environment, the initial position of the UAV and the target point of the structure where the contact inspection will be performed.

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“…In addition, UASs' recent developments in terms of regulation updates, low acquisition costs, enhanced navigation features, autonomous flight capabilities, increased battery life, and variety types of onboard sensors, have played a significant role in their popularity and wide deployment in the construction industry (Hassanalian and Abdelkefi 2017;Zhou and Gheisari 2018). UASs can be adopted through different phases of a construction project from site surveying and mapping (Martinez et al 2021a;Neitzel and Klonowski 2012) and progress monitoring (Álvares and Costa 2019;Unger et al 2014) to building inspection (Eiris et al 2020;González-deSantos et al 2020;Hallermann et al 2015a;Hallermann et al 2015b), and structures maintenance (Mutis and Romero 2019). A significant amount of research has been done about how UAS technology can be used for specific construction-related tasks; however, understanding how the construction industry is incorporating such technology in their day-to-day practices is yet to be investigated.…”

Section: Introductionmentioning

confidence: 99%

Trends, benefits, and barriers of unmanned aerial systems in the construction industry: a survey study in the United States

Albeaino¹,

Gheisari²

2021

ITcon

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Unmanned Aerial Systems (UASs) have rapidly been integrated into the construction industry over the past few years, and their application is continually growing in this domain. The recent development in UAS regulations and technical capabilities have played a significant role in their popularity and wide deployment in various stages of the construction lifecycle. UASs could be used as a platform to enhance the construction practices in general; however, little is known about how construction professionals are adopting this technology in specific construction practices and the barriers they are facing for their successful implementation. The purpose of this study is to explore the current state-of-practice of UAS integration in construction from the industry professionals’ viewpoint. A comprehensive survey study was conducted in the United States to identify the practical construction UAS application areas, their adopted technologies, as well as the benefits and barriers encountered during their implementation. Responses (n=56) showed that most common UAS applications include progress monitoring, site planning, and site surveying/mapping. Rotary-wing vehicles and visual and thermal cameras were the most used platforms and onboard sensors, respectively. Saving time, improving accessibility to compromised spaces, and reducing cost while accomplishing construction tasks were highly regarded as UAS implementation benefits in construction. Participants also considered flying in various weather conditions, within confined or congested areas, as well as the advanced technical know-how requirements, and the increased liability and legal challenges as barriers to using UASs in construction-related tasks. By understanding UAS adoption in construction, this study provides a roadmap to better identify the industry needs and guide researchers and professionals in investigating application areas and barriers that might have maximum benefits for the construction industry in the United States.

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UAV payload with collision mitigation for contact inspection

Cited by 36 publications

References 21 publications

Indoor Path-Planning Algorithm for UAV-Based Contact Inspection

Indoor Path-Planning Algorithm for UAV-Based Contact Inspection

Path Planning for Indoor Contact Inspection Tasks With Uavs

Trends, benefits, and barriers of unmanned aerial systems in the construction industry: a survey study in the United States

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