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

GPU accelerated coverage path planning optimized for accuracy in robotic inspection applications

Almadhoun, Randa, Taha, Tarek, Seneviratne, Lakmal, Dias, Jorge and Cai, Guowei (2016) GPU accelerated coverage path planning optimized for accuracy in robotic inspection applications. 2016 IEEE 59th International Midwest Symposium on Circuits and Systems (MWSCAS). pp. 1-4. ISSN 1558-3899

Item Type: Article


In this paper, we introduce a coverage path planning algorithm for inspecting large structures optimized to generate highly accurate 3D models. Robotic inspection of structures such as aircrafts, bridges and buildings, is considered a critical task since missing any detail could affect the performance and integrity of the structures. Additionally, it is a time and resource intensive task that should be performed as efficiently and accurately as possible. The method we propose is a model based coverage path planning approach that generates an optimized path that passes through a set of admissible waypoints to cover a complex structure. The coverage path planning algorithm is developed with a heuristic reward function that exploits our knowledge of the structure mesh model, and the UAV's onboard sensors' models to generate optimal paths that maximizes coverage and accuracy, and minimizes distance travelled. Moreover, we accelerated critical components of the algorithm utilizing the Graphics Processing Unit (GPU) parallel architecture. A set of experiments were conducted in a simulated environment to test the validity of the proposed algorithm.

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More Information

Uncontrolled Keywords: Sensors , Graphics processing units , Three-dimensional displays , Path planning , Inspection , Robots , Atmospheric modeling
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Depositing User: Randa Almadhoun


Item ID: 16465
Identification Number:
ISSN: 1558-3899
Official URL:

Users with ORCIDS

ORCID for Randa Almadhoun: ORCID iD
ORCID for Tarek Taha: ORCID iD
ORCID for Lakmal Seneviratne: ORCID iD
ORCID for Jorge Dias: ORCID iD

Catalogue record

Date Deposited: 23 Nov 2023 17:08
Last Modified: 23 Nov 2023 17:08


Author: Randa Almadhoun ORCID iD
Author: Tarek Taha ORCID iD
Author: Lakmal Seneviratne ORCID iD
Author: Jorge Dias ORCID iD
Author: Guowei Cai

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Faculty of Technology



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