DC Field | Value | Language |
---|---|---|
dc.contributor.author | 이응창 | ko |
dc.contributor.author | 명현 | ko |
dc.date.accessioned | 2023-03-22T07:02:12Z | - |
dc.date.available | 2023-03-22T07:02:12Z | - |
dc.date.created | 2023-03-20 | - |
dc.date.issued | 2023-02-15 | - |
dc.identifier.citation | 제 18회 한국로봇종합학술대회 (KRoC 2023) | - |
dc.identifier.uri | http://hdl.handle.net/10203/305750 | - |
dc.description.abstract | In this paper, we propose a novel two-stage optimization-based path planner for the 3D reconstruction of a target scene using a quadrotor UAV (unmanned aerial vehicle). The proposed method solves two-stage optimization problems to find the shortest, safe, and energy-efficient trajectory that covers the target scene. Firstly, the shortest and safe coverage path is obtained by solving the obstacle-aware Traveling Salesman Problem (O-TSP), which visits whole viewpoints. Then, the resulting path is refined as an energy-efficient trajectory by optimizing the cost function that considers the snap of the UAV. The proposed method is validated with a simulation. | - |
dc.language | Korean | - |
dc.publisher | 한국로봇학회 (KROS) | - |
dc.title | 3 차원 복원을 위한 2 단계 최적화 기반 에너지 효율적 커버리지 경로계획법 | - |
dc.type | Conference | - |
dc.type.rims | CONF | - |
dc.citation.publicationname | 제 18회 한국로봇종합학술대회 (KRoC 2023) | - |
dc.identifier.conferencecountry | KO | - |
dc.identifier.conferencelocation | 휘닉스 평창 | - |
dc.contributor.localauthor | 명현 | - |
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