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| Title: | 無人機於立體建物檢視之覆蓋路徑規劃
UAV Coverage Path Planning for Building Inspection |
| Authors: | 李莞瑜
Lee, Wan-Yu |
| Contributors: | 李蔡彥
Li, Tsai-Yen
李莞瑜
Lee, Wan-Yu |
| Keywords: | 無人機
模型簡化
覆蓋路徑規劃
UAV
Mesh simplification
Coverage path planning |
| Date: | 2020 |
| Issue Date: | 2020-10-05 15:16:29 (UTC+8) |
| Abstract: | 近年來，無人機除了軍事用途外，亦廣泛應用於各種民生需求，如空拍影像等。由於無人機輕巧、機動性高且不易受地形限制之特性，開始有應用無人機於基礎設施（如電塔、老舊大樓）等檢修的案例。然而，無人機的操作大多缺乏自主運動規劃能力，進行檢修時仍是由使用者透過搖桿等介面進行人工操控，使用上繁瑣耗時外，也不易上手。除此之外，目前並無針對立體建築物巡檢為目的而設計的無人機路徑規劃系統。本論文以此作為研究動機，開發無人機於立體建物檢視之覆蓋路徑規劃系統。透過使用者介面，輸入網格模型與相機參數，系統便能自動計算出無人機檢視之視點，並經由視點產生無人機巡檢路徑。該路徑混合立面與平面路徑，且無碰撞。最後本論文於模擬環境中使用四軸飛行器模擬飛行，證明本論文提出方法之有效性。
In addition to military applications, unmanned aerial vehicles (UAVs) have also been widely used in various applications, such as aerial photography. With the characteristics of lightweight and space maneuverability, using UAVs to inspect buildings is becoming popular. However, the operation of most UAVs still relies on skilled human operators. Equipped UAVs with autonomous motion planning ability is highly desirable. We have not seen motion planners that can generate inspection paths for vertical as well as horizontal surfaces of a building. In this study, we propose a UAV coverage path planning method for building inspection. Users can input a mesh model and camera parameters, and then the system will generate a sequence of inspection viewpoints, and compute an inspection path through these viewpoints. The inspection path is composed of sub-paths for inspecting horizontal and vertical surfaces and is guaranteed to be collision-free. Finally, the study verified the effectiveness of the proposed planner with a quadcopter in a simulation environment. |
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| Description: | 碩士
國立政治大學
資訊科學系
106753009 |
| Source URI: | http://thesis.lib.nccu.edu.tw/record/#G0106753009 |
| Data Type: | thesis |
| DOI: | 10.6814/NCCU202001736 |
| Appears in Collections: | [資訊科學系] 學位論文
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