DC Field | Value | Language |
---|---|---|
dc.contributor.author | LEE, EUNGCHANG | ko |
dc.contributor.author | Jung, Sungwook | ko |
dc.contributor.author | SONG, SEUNGWON | ko |
dc.contributor.author | Choi, Duckyu | ko |
dc.contributor.author | Lee, Dongkyu | ko |
dc.contributor.author | Lee, Seunghyun | ko |
dc.contributor.author | Kim, Seoktae | ko |
dc.contributor.author | Myung, Hyun | ko |
dc.date.accessioned | 2023-03-22T02:00:53Z | - |
dc.date.available | 2023-03-22T02:00:53Z | - |
dc.date.created | 2023-03-20 | - |
dc.date.issued | 2022-12-07 | - |
dc.identifier.citation | 10th International Conference on Robot Intelligence Technology and Applications (RiTA), pp.27 - 36 | - |
dc.identifier.uri | http://hdl.handle.net/10203/305703 | - |
dc.description.abstract | In this paper, we propose a novel model-based coverage path planner for the 3D reconstruction of a target structure with an unmanned aerial vehicle(UAV). The proposed method rapidly calculates initial viewpoints considering the ground sampling distance (GSD) by partitioning a structure by height. Then, optimal viewpoints are selected by checking the collision and calculating over-laps and coverage. Next, the newly developed collision-aware Traveling Sales-man Problem (CTSP) is used to connect the optimal viewpoints while guaran-teeing the shortest distance and obstacle avoidance. Finally, the resulting path is refined as a control-efficient trajectory that considers the dynamics of UAVs.The performance of the proposed algorithm is verified by experiments on diverse structures. | - |
dc.language | English | - |
dc.publisher | SPRINGER INTERNATIONAL PUBLISHING AG | - |
dc.title | CEO-MLCPP: Collision-Efficient and Obstacle-Aware Multi-Layer Coverage Path Planner for 3D Reconstruction with UAVs | - |
dc.type | Conference | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 27 | - |
dc.citation.endingpage | 36 | - |
dc.citation.publicationname | 10th International Conference on Robot Intelligence Technology and Applications (RiTA) | - |
dc.identifier.conferencecountry | AT | - |
dc.identifier.conferencelocation | Gold Coast | - |
dc.contributor.localauthor | Myung, Hyun | - |
dc.contributor.nonIdAuthor | Jung, Sungwook | - |
dc.contributor.nonIdAuthor | Lee, Dongkyu | - |
dc.contributor.nonIdAuthor | Lee, Seunghyun | - |
dc.contributor.nonIdAuthor | Kim, Seoktae | - |
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.