Spiral Trajectories for Building Inspection with Quadrotors

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

Inspection of large buildings is an important task since it can prevent material and human losses. A cheap and fast way to do the inspection is with sensors mounted on quadrotor vehicles. The challenge here is to compute a trajectory so that the building is completely observed while this same trajectory can be followed by the quadrotor in a smooth way. To address the problem, we propose a method that receives a 2.5D model of the target building and computes a smooth trajectory that can be followed by the quadrotor controller. The computed trajectory is a Fourier series that matches the desired behaviour. The advantage of the proposed method is that we can select the Fourier components in order to decrease the high frequency movement. The method has been tested in simulation and we have compared it against polynomial trajectories. Our results show that the method is efficient and can be applied to different building shapes.

Original languageEnglish
Title of host publication2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages891-896
Number of pages6
ISBN (Electronic)9781665405935
DOIs
StatePublished - 2022
Event2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022 - Dubrovnik, Croatia
Duration: 21 Jun 202224 Jun 2022

Publication series

Name2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022

Conference

Conference2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022
Country/TerritoryCroatia
CityDubrovnik
Period21/06/2224/06/22

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