UPPLIED：通过示教实现的无人机巡检路径规划
UPPLIED: UAV Path Planning for Inspection through Demonstration
AI总结：
本研究提出UPPLIED框架，通过示教轨迹生成适配同类型新结构的无人机巡检路径，经点映射与位置优化后，可在几何匹配的同时以最小偏差覆盖目标巡检区域。
摘要：
本文提出了一种新型的基于示教的路径规划框架，用于利用无人机对大型结构进行视觉巡检。我们推出了UPPLIED（UAV Path PLanning for InspEction through Demonstration，通过示教实现的无人机巡检路径规划），该框架利用一条示教轨迹来生成新轨迹，以巡检同类型的其他结构。示教轨迹可巡检结构的特定区域，而UPPLIED生成的新轨迹则巡检另一结构中的相似区域。该方法从示教轨迹中生成巡检点，并通过标准化变换将这些巡检点映射到新结构上以完成巡检。最后，对这些巡检点的位置进行优化，以调整其观测视角。我们针对多种结构开展了大量实验，结果表明所提框架能够基于示教为不同结构生成各类巡检轨迹。生成的轨迹在几何形态上与示教轨迹相匹配，同时能以最小偏差巡检示教轨迹所覆盖的区域。该研究的实验视频可在https://youtu.be/YqPx-cLkv04 查看。
英文摘要：
In this paper, a new demonstration-based path-planning framework for the visual inspection of large structures using UAVs is proposed. We introduce UPPLIED: UAV Path PLanning for InspEction through Demonstration, which utilizes a demonstrated trajectory to generate a new trajectory to inspect other structures of the same kind. The demonstrated trajectory can inspect specific regions of the structure and the new trajectory generated by UPPLIED inspects similar regions in the other structure. The proposed method generates inspection points from the demonstrated trajectory and uses standardization to translate those inspection points to inspect the new structure. Finally, the position of these inspection points is optimized to refine their view. Numerous experiments were conducted with various structures and the proposed framework was able to generate inspection trajectories of various kinds for different structures based on the demonstration. The trajectories generated match with the demonstrated trajectory in geometry and at the same time inspect the regions inspected by the demonstration trajectory with minimum deviation. The experimental video of the work can be found at https://youtu.be/YqPx-cLkv04.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
