کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
6478991 1428282 2017 9 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Enhanced discrete particle swarm optimization path planning for UAV vision-based surface inspection
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی عمران و سازه
پیش نمایش صفحه اول مقاله
Enhanced discrete particle swarm optimization path planning for UAV vision-based surface inspection
چکیده انگلیسی
In built infrastructure monitoring, an efficient path planning algorithm is essential for robotic inspection of large surfaces using computer vision. In this work, we first formulate the inspection path planning problem as an extended travelling salesman problem (TSP) in which both the coverage and obstacle avoidance were taken into account. An enhanced discrete particle swarm optimization (DPSO) algorithm is then proposed to solve the TSP, with performance improvement by using deterministic initialization, random mutation, and edge exchange. Finally, we take advantage of parallel computing to implement the DPSO in a GPU-based framework so that the computation time can be significantly reduced while keeping the hardware requirement unchanged. To show the effectiveness of the proposed algorithm, experimental results are included for datasets obtained from UAV inspection of an office building and a bridge.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Automation in Construction - Volume 81, September 2017, Pages 25-33
نویسندگان
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