Autonomous 3D Exploration of Large Structures Using an UAV Equipped with a 2D LIDAR

This paper addressed the challenge of exploring large, unknown, and unstructured industrial environments with an unmanned aerial vehicle (UAV). The resulting system combined well-known components and techniques with a new manoeuvre to use a low-cost 2D laser to measure a 3D structure. Our approach c...

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Detalles Bibliográficos
Autores: Faria, Margarida, Ferreira, António Sérgio, Pérez-León, Héctor, Maza Alcañiz, Iván, Viguria, Antidio
Tipo de recurso: artículo
Estado:Versión publicada
Fecha de publicación:2019
País:España
Institución:Universidad de Sevilla (US)
Repositorio:idUS. Depósito de Investigación de la Universidad de Sevilla
OAI Identifier:oai:idus.us.es:11441/93149
Acceso en línea:https://hdl.handle.net/11441/93149
https://doi.org/10.3390/s19224849
Access Level:acceso abierto
Palabra clave:Structure inspection
Path planning
Unmanned aerial vehicles (UAVs)
Autonomous exploration
Laser scanning
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spelling Autonomous 3D Exploration of Large Structures Using an UAV Equipped with a 2D LIDARFaria, MargaridaFerreira, António SérgioPérez-León, HéctorMaza Alcañiz, IvánViguria, AntidioStructure inspectionPath planningUnmanned aerial vehicles (UAVs)Autonomous explorationLaser scanningThis paper addressed the challenge of exploring large, unknown, and unstructured industrial environments with an unmanned aerial vehicle (UAV). The resulting system combined well-known components and techniques with a new manoeuvre to use a low-cost 2D laser to measure a 3D structure. Our approach combined frontier-based exploration, the Lazy Theta* path planner, and a flyby sampling manoeuvre to create a 3D map of large scenarios. One of the novelties of our system is that all the algorithms relied on the multi-resolution of the octomap for the world representation. We used a Hardware-in-the-Loop (HitL) simulation environment to collect accurate measurements of the capability of the open-source system to run online and on-board the UAV in real-time. Our approach is compared to different reference heuristics under this simulation environment showing better performance in regards to the amount of explored space. With the proposed approach, the UAV is able to explore 93% of the search space under 30 min, generating a path without repetition that adjusts to the occupied space covering indoor locations, irregular structures, and suspended obstaclesUnión Europea Marie Sklodowska-Curie 64215Unión Europea MULTIDRONE (H2020-ICT-731667)Uniión Europea HYFLIERS (H2020-ICT-779411)MDPIIngeniería de Sistemas y AutomáticaTEP151: Robótica, Visión y Control2019info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfapplication/pdfhttps://hdl.handle.net/11441/93149https://doi.org/10.3390/s19224849reponame:idUS. Depósito de Investigación de la Universidad de Sevillainstname:Universidad de Sevilla (US)InglésSensors, 19 (22). Article number 4849.Marie Sklodowska-Curie 64215MULTIDRONE (H2020-ICT-731667)HYFLIERS (H2020-ICT-779411)https://doi.org/10.3390/s19224849info:eu-repo/semantics/openAccessoai:idus.us.es:11441/931492026-06-17T12:51:07Z
dc.title.none.fl_str_mv Autonomous 3D Exploration of Large Structures Using an UAV Equipped with a 2D LIDAR
title Autonomous 3D Exploration of Large Structures Using an UAV Equipped with a 2D LIDAR
spellingShingle Autonomous 3D Exploration of Large Structures Using an UAV Equipped with a 2D LIDAR
Faria, Margarida
Structure inspection
Path planning
Unmanned aerial vehicles (UAVs)
Autonomous exploration
Laser scanning
title_short Autonomous 3D Exploration of Large Structures Using an UAV Equipped with a 2D LIDAR
title_full Autonomous 3D Exploration of Large Structures Using an UAV Equipped with a 2D LIDAR
title_fullStr Autonomous 3D Exploration of Large Structures Using an UAV Equipped with a 2D LIDAR
title_full_unstemmed Autonomous 3D Exploration of Large Structures Using an UAV Equipped with a 2D LIDAR
title_sort Autonomous 3D Exploration of Large Structures Using an UAV Equipped with a 2D LIDAR
dc.creator.none.fl_str_mv Faria, Margarida
Ferreira, António Sérgio
Pérez-León, Héctor
Maza Alcañiz, Iván
Viguria, Antidio
author Faria, Margarida
author_facet Faria, Margarida
Ferreira, António Sérgio
Pérez-León, Héctor
Maza Alcañiz, Iván
Viguria, Antidio
author_role author
author2 Ferreira, António Sérgio
Pérez-León, Héctor
Maza Alcañiz, Iván
Viguria, Antidio
author2_role author
author
author
author
dc.contributor.none.fl_str_mv Ingeniería de Sistemas y Automática
TEP151: Robótica, Visión y Control
dc.subject.none.fl_str_mv Structure inspection
Path planning
Unmanned aerial vehicles (UAVs)
Autonomous exploration
Laser scanning
topic Structure inspection
Path planning
Unmanned aerial vehicles (UAVs)
Autonomous exploration
Laser scanning
description This paper addressed the challenge of exploring large, unknown, and unstructured industrial environments with an unmanned aerial vehicle (UAV). The resulting system combined well-known components and techniques with a new manoeuvre to use a low-cost 2D laser to measure a 3D structure. Our approach combined frontier-based exploration, the Lazy Theta* path planner, and a flyby sampling manoeuvre to create a 3D map of large scenarios. One of the novelties of our system is that all the algorithms relied on the multi-resolution of the octomap for the world representation. We used a Hardware-in-the-Loop (HitL) simulation environment to collect accurate measurements of the capability of the open-source system to run online and on-board the UAV in real-time. Our approach is compared to different reference heuristics under this simulation environment showing better performance in regards to the amount of explored space. With the proposed approach, the UAV is able to explore 93% of the search space under 30 min, generating a path without repetition that adjusts to the occupied space covering indoor locations, irregular structures, and suspended obstacles
publishDate 2019
dc.date.none.fl_str_mv 2019
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv https://hdl.handle.net/11441/93149
https://doi.org/10.3390/s19224849
url https://hdl.handle.net/11441/93149
https://doi.org/10.3390/s19224849
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv Sensors, 19 (22). Article number 4849.
Marie Sklodowska-Curie 64215
MULTIDRONE (H2020-ICT-731667)
HYFLIERS (H2020-ICT-779411)
https://doi.org/10.3390/s19224849
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv MDPI
publisher.none.fl_str_mv MDPI
dc.source.none.fl_str_mv reponame:idUS. Depósito de Investigación de la Universidad de Sevilla
instname:Universidad de Sevilla (US)
instname_str Universidad de Sevilla (US)
reponame_str idUS. Depósito de Investigación de la Universidad de Sevilla
collection idUS. Depósito de Investigación de la Universidad de Sevilla
repository.name.fl_str_mv
repository.mail.fl_str_mv
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