Coverage Path Planning Method of Unmanned Aerial Vehicle for Aircraft Surface Detection Task

doi:10.3901/JME.2023.16.243

Abstract

Abstract: A coverage path planning algorithm based on the improved WaveFront algorithm is proposed for the full coverage path planning problem of unmanned aerial vehicles（UAVs） in the 3D environment in aircraft inspection tasks. Investigating a method for extracting viewpoints on the surface of 3D models based on discrete 3D grid maps. Improving the WaveFront algorithm according to the constraint strategy of adjacent viewpoints to solve the local optimum problem caused by the same loss value in different directions.Designing the orientation evaluation function in 3D space, which, combined with the viewpoint position, can guide the forward direction of the UAV. Realizing the UAV coverage path planning based on the 3D model for the aircraft surface. The experimental results show that the algorithm can realize the automatic extraction of viewpoints on the aircraft surface, and combined with the viewpoints can autonomously plan the flight path of the UAV. Compared with the genetic algorithm, the improved WaveFront can effectively carry out path planning on the aircraft surface and ensure that the UAV maintains a collision-free state with the aircraft fuselage. According to the planned path, the UAV can complete the task of detecting the surface of the aircraft fuselage without omission.

Key words: unmanned aerial vehicle, path planning, aircraft detection, Wave Front algorithm

CLC Number:

TG242

DAI Jiajia, GONG Xiaoxi, WANG Jun. Coverage Path Planning Method of Unmanned Aerial Vehicle for Aircraft Surface Detection Task[J]. Journal of Mechanical Engineering, 2023, 59(16): 243-253.

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