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Sunderland Repository records the research produced by the University of Sunderland including practice-based research and theses.

Coverage Path Planning with Adaptive Viewpoint Sampling to Construct 3D Models of Complex Structures for the Purpose of Inspection

Almadhoun, Randa, Taha, Tarek, Gan, Dongming, Dias, Jorge, Zweiri, Yahya and Seneviratne, Lakmal (2019) Coverage Path Planning with Adaptive Viewpoint Sampling to Construct 3D Models of Complex Structures for the Purpose of Inspection. International Conference on Intelligent Robots and Systems (IROS). pp. 7047-7054. ISSN 2153-0866

Item Type: Article


In this paper, we introduce a coverage path planning algorithm with adaptive viewpoint sampling to construct accurate 3D models of complex large structures using Unmanned Aerial Vehicle (UAV). The developed algorithm, Adaptive Search Space Coverage Path Planner (ASSCPP), utilizes an existing 3D reference model of the complex structure and the onboard sensors' noise models to generate paths that are evaluated based on the traveling distance and the quality of the model. The algorithm generates a set of viewpoints by performing adaptive sampling that directs the search towards areas with low accuracy and low coverage. The algorithm predicts the coverage percentage obtained by following the generated coverage path using the reference model. A set of experiments were conducted in real and simulated environments with structures of different complexities to test the validity of the proposed algorithm.

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Uncontrolled Keywords: Sensors , Adaptation models , Path planning , Solid modeling , Entropy , Clustering algorithms , Octrees
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Depositing User: Randa Almadhoun


Item ID: 16463
Identification Number:
ISSN: 2153-0866
Official URL:

Users with ORCIDS

ORCID for Randa Almadhoun: ORCID iD
ORCID for Tarek Taha: ORCID iD
ORCID for Dongming Gan: ORCID iD
ORCID for Jorge Dias: ORCID iD
ORCID for Yahya Zweiri: ORCID iD
ORCID for Lakmal Seneviratne: ORCID iD

Catalogue record

Date Deposited: 23 Nov 2023 17:05
Last Modified: 23 Nov 2023 17:05


Author: Randa Almadhoun ORCID iD
Author: Tarek Taha ORCID iD
Author: Dongming Gan ORCID iD
Author: Jorge Dias ORCID iD
Author: Yahya Zweiri ORCID iD
Author: Lakmal Seneviratne ORCID iD

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