TY - GEN
T1 - Spiral Trajectories for Building Inspection with Quadrotors
AU - Vasquez-Gomez, Juan Irving
AU - Troncoso Romero, David E.
AU - Antonio-Cruz, Mayra
AU - Zamora, Erik
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85136155128&partnerID=8YFLogxK
U2 - 10.1109/ICUAS54217.2022.9836133
DO - 10.1109/ICUAS54217.2022.9836133
M3 - Contribución a la conferencia
AN - SCOPUS:85136155128
T3 - 2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022
SP - 891
EP - 896
BT - 2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022
Y2 - 21 June 2022 through 24 June 2022
ER -