摘要
为了实现飞机表面的自动检测,提出了一种基于无人机的覆盖路径规划方法,该方法保证了图像的高质量和路径的规律性。采用单元格分解方法来满足重叠率约束,并基于单元格生成的视点实现全覆盖,避免集合覆盖问题的求解。通过满足正视、等距和重叠率等摄影测量约束,可以根据采集到的图像对飞机表面损伤及其部件状况进行全面且精确的评价。进一步通过分层求解旅行商问题来规划覆盖路径,并结合飞机的语义信息,使得路径在不同层次上呈现规律性,有助于操作人员监控任务的完成情况,并提高采集数据流的可读性。采用了一种迭代优化策略,在路径最优性和计算速度之间取得了权衡。大量的仿真实验和对比实验验证了所提算法的有效性。
To achieve automatic inspection of aircraft surface,an unmanned aerial vehicle-based coverage path planning method is proposed,which guarantees high image quality and path regularity.Firstly,cell decomposition method is employed to satisfy the overlapping ratio constraint,and viewpoints are generated based on the cells to realize complete coverage,avoiding the solution of set cover problem.By meeting the photogrammetric constraints of equidistance,front view,and overlapping ratio,comprehensive and precise evaluation of aircraft surface damage and the condition of its components can be conducted using the captured images.Furthermore,coverage path is planned through hierarchical solution of traveling salesman problem,and the semantic information of aircraft is incorporated,allowing the path exhibits regularity at different levels,which aids operators in monitoring task completion and enhances the readability of collected data flow.In addition,an iterative optimization strategy is employed to make a compromise between the path optimality and the calculation speed.Finally,extensive simulations and comparisons are performed to validate the effectiveness of the proposed algorithm.
作者
朴敏楠
周雨晗
李海丰
李浩龙
宋德臻
PIAO Minnan;ZHOU Yuhan;LI Haifeng;LI Haolong;SONG Dezhen(School of Computer Science and Technology,Civil Aviation University of China,Tianjin 300300,China;School of Robotics,Mohamed Bin Zayed University of Artificial Intelligence,Abu Dhabi 54115,UAE;Department of Computer Science and Engineering,Texas A&M University,Colic Station,Texas 77843,USA)
出处
《计算机工程与应用》
北大核心
2025年第24期322-330,共9页
Computer Engineering and Applications
基金
国家自然科学基金(62203450,62373365)
航空科学基金(2022Z034067004)
天津市自然科学基金(24JCQNJC00070)
中央高校基本科研业务费专项资金(3122022QD09,3122023PT16)。
关键词
摄影测量约束
视点生成
分层路径规划
飞机表面自动检测
无人机
photogrammetric constraints
viewpoint generation
hierarchical path planning
automatic inspection of aircraft surface
unmanned aerial vehicle
