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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

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Abstract

Abstract

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.

Item Type: Article
Uncontrolled Keywords: Sensors , Adaptation models , Path planning , Solid modeling , Entropy , Clustering algorithms , Octrees
Related URLs:
Depositing User: Randa Almadhoun
URI: https://sure.sunderland.ac.uk/id/eprint/16463

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Uncontrolled Keywords
Sensors , Adaptation models , Path planning , Solid modeling , Entropy , Clustering algorithms , Octrees
Related URLs
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Item ID
16463
Identification Number
ISSN
2153-0866

Users with ORCIDS

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

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Date Deposited
23 Nov 2023 17:05
Last Modified
04 Jun 2025 15:23

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