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題名 無人機於立體建物檢視之覆蓋路徑規劃
UAV Coverage Path Planning for Building Inspection作者 李莞瑜
Lee, Wan-Yu貢獻者 李蔡彥
Li, Tsai-Yen
李莞瑜
Lee, Wan-Yu關鍵詞 無人機
模型簡化
覆蓋路徑規劃
UAV
Mesh simplification
Coverage path planning日期 2020 上傳時間 5-Oct-2020 15:16:29 (UTC+8) 摘要 近年來，無人機除了軍事用途外，亦廣泛應用於各種民生需求，如空拍影像等。由於無人機輕巧、機動性高且不易受地形限制之特性，開始有應用無人機於基礎設施（如電塔、老舊大樓）等檢修的案例。然而，無人機的操作大多缺乏自主運動規劃能力，進行檢修時仍是由使用者透過搖桿等介面進行人工操控，使用上繁瑣耗時外，也不易上手。除此之外，目前並無針對立體建築物巡檢為目的而設計的無人機路徑規劃系統。本論文以此作為研究動機，開發無人機於立體建物檢視之覆蓋路徑規劃系統。透過使用者介面，輸入網格模型與相機參數，系統便能自動計算出無人機檢視之視點，並經由視點產生無人機巡檢路徑。該路徑混合立面與平面路徑，且無碰撞。最後本論文於模擬環境中使用四軸飛行器模擬飛行，證明本論文提出方法之有效性。
In addition to military applications, unmanned aerial vehicles (UAVs) have also been widely used in various applications, such as aerial photography. With the characteristics of lightweight and space maneuverability, using UAVs to inspect buildings is becoming popular. However, the operation of most UAVs still relies on skilled human operators. Equipped UAVs with autonomous motion planning ability is highly desirable. We have not seen motion planners that can generate inspection paths for vertical as well as horizontal surfaces of a building. In this study, we propose a UAV coverage path planning method for building inspection. Users can input a mesh model and camera parameters, and then the system will generate a sequence of inspection viewpoints, and compute an inspection path through these viewpoints. The inspection path is composed of sub-paths for inspecting horizontal and vertical surfaces and is guaranteed to be collision-free. Finally, the study verified the effectiveness of the proposed planner with a quadcopter in a simulation environment.參考文獻 [1] E. Bone and C. Bolkcom, "Unmanned aerial vehicles: Background and issues for congress," 2003: Library of Congress Washington DC Congressional Research Service.[2] (19-Sep). 經緯航太 | GEOSAT. Available: https://www.geosat.com.tw/TW/index.aspx[3] 張竣堯, "運用無人飛行載具搭載紅外線進行建築外牆磁磚檢測," 建築研究簡訊 vol. 99, ed: 中華民國內政部建築研究所, 2018.[4] P. Cignoni, C. Montani, and R. Scopigno, "A comparison of mesh simplification algorithms," Computers & Graphics, vol. 22, no. 1, pp. 37-54, 1998.[5] D. Bommes, B. Lévy, N. Pietroni, E. Puppo, C. Silva, M. Tarini, and D. Zorin, "Quad‐mesh generation and processing: A survey," Computer Graphics Forum, vol. 32, no. 6, pp. 51-76: Wiley Online Library, 2013.[6] J. Daniels, C. T. Silva, J. Shepherd, and E. Cohen, "Quadrilateral mesh simplification," ACM transactions on graphics (TOG), vol. 27, no. 5, p. 148: ACM, 2008.[7] M. Tarini, N. Pietroni, P. Cignoni, D. Panozzo, and E. Puppo, "Practical quad mesh simplification," Computer Graphics Forum, vol. 29, no. 2, pp. 407-418: Wiley Online Library, 2010.[8] E. Galceran and M. Carreras, "A survey on coverage path planning for robotics," Robotics and Autonomous systems, vol. 61, no. 12, pp. 1258-1276, 2013.[9] T. Cabreira, L. Brisolara, and P. R. Ferreira Jr, "Survey on Coverage Path Planning with Unmanned Aerial Vehicles," Drones, vol. 3, no. 1, p 4, 2019.[10] Y. Li, H. Chen, M. Joo Er, and X. Wang, "Coverage path planning for UAVs based on enhanced exact cellular decomposition method," Mechatronics, vol. 21, no. 5, pp. 876-885, 2011.[11] M. Torres, D. A. Pelta, J. L. Verdegay, and J. C. Torres, "Coverage path planning with unmanned aerial vehicles for 3D terrain reconstruction," Expert Systems with Applications, vol. 55, pp. 441-451, 2016.[12] P. Cheng, J. Keller, and V. Kumar, "Time-optimal UAV trajectory planning for 3D urban structure coverage," in 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2750-2757: IEEE, 2008.[13] A. Bircher, K. Alexis, M. Burri, P. Oettershagen, S. Omari, T. Mantel, and R. Siegwart, "Structural inspection path planning via iterative viewpoint resampling with application to aerial robotics," in Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015.[14] S. Jung, S. Song, P. Youn, and H. Myung, "Multi-Layer Coverage Path Planner for Autonomous Structural Inspection of High-Rise Structures," in Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018.[15] T. Luukkonen, “Modelling and control of quadcopter,” Independent research project in applied mathematics. Aalto University School of Science, 2011.[16] K. Helsgaun, "An effective implementation of the Lin–Kernighan traveling salesman heuristic," European Journal of Operational Research, vol. 126, no. 1, pp. 106-130, 2000.[17] (9-Aug). DJI Maviz 2 Zoom. Available: https://store.dji.com/zh-tw/product/mavic-2?vid=45321[18] (9-Aug). DJI Matrice 200. Available: https://www.dji.com/tw/matrice-200-series-v2 描述 碩士
國立政治大學
資訊科學系
106753009資料來源 http://thesis.lib.nccu.edu.tw/record/#G0106753009 資料類型 thesis dc.contributor.advisor 李蔡彥 zh_TW dc.contributor.advisor Li, Tsai-Yen en_US dc.contributor.author (Authors) 李莞瑜 zh_TW dc.contributor.author (Authors) Lee, Wan-Yu en_US dc.creator (作者) 李莞瑜 zh_TW dc.creator (作者) Lee, Wan-Yu en_US dc.date (日期) 2020 en_US dc.date.accessioned 5-Oct-2020 15:16:29 (UTC+8) - dc.date.available 5-Oct-2020 15:16:29 (UTC+8) - dc.date.issued (上傳時間) 5-Oct-2020 15:16:29 (UTC+8) - dc.identifier (Other Identifiers) G0106753009 en_US dc.identifier.uri (URI) http://nccur.lib.nccu.edu.tw/handle/140.119/132066 - dc.description (描述) 碩士 zh_TW dc.description (描述) 國立政治大學 zh_TW dc.description (描述) 資訊科學系 zh_TW dc.description (描述) 106753009 zh_TW dc.description.abstract (摘要) 近年來，無人機除了軍事用途外，亦廣泛應用於各種民生需求，如空拍影像等。由於無人機輕巧、機動性高且不易受地形限制之特性，開始有應用無人機於基礎設施（如電塔、老舊大樓）等檢修的案例。然而，無人機的操作大多缺乏自主運動規劃能力，進行檢修時仍是由使用者透過搖桿等介面進行人工操控，使用上繁瑣耗時外，也不易上手。除此之外，目前並無針對立體建築物巡檢為目的而設計的無人機路徑規劃系統。本論文以此作為研究動機，開發無人機於立體建物檢視之覆蓋路徑規劃系統。透過使用者介面，輸入網格模型與相機參數，系統便能自動計算出無人機檢視之視點，並經由視點產生無人機巡檢路徑。該路徑混合立面與平面路徑，且無碰撞。最後本論文於模擬環境中使用四軸飛行器模擬飛行，證明本論文提出方法之有效性。 zh_TW dc.description.abstract (摘要) In addition to military applications, unmanned aerial vehicles (UAVs) have also been widely used in various applications, such as aerial photography. With the characteristics of lightweight and space maneuverability, using UAVs to inspect buildings is becoming popular. However, the operation of most UAVs still relies on skilled human operators. Equipped UAVs with autonomous motion planning ability is highly desirable. We have not seen motion planners that can generate inspection paths for vertical as well as horizontal surfaces of a building. In this study, we propose a UAV coverage path planning method for building inspection. Users can input a mesh model and camera parameters, and then the system will generate a sequence of inspection viewpoints, and compute an inspection path through these viewpoints. The inspection path is composed of sub-paths for inspecting horizontal and vertical surfaces and is guaranteed to be collision-free. Finally, the study verified the effectiveness of the proposed planner with a quadcopter in a simulation environment. en_US dc.description.tableofcontents 致謝 I摘要 IIABSTRACT III目次 IV表次 VI圖次 VII第1章 緒論 11.1 研究背景與動機 11.2 研究目標 21.3 論文貢獻 31.4 論文架構 3第2章 相關研究 42.1 模型簡化 42.2 二維覆蓋路徑規劃 62.3 三維覆蓋路徑規劃 72.4 小結 9第3章 系統架構與設計 103.1 問題定義 103.2 系統架構與流程 123.3 模型前處理 133.3.1 合併共面 143.3.2 簡化模型細節 153.4 產生視點（VIEWPOINTS） 183.5 路徑規劃 233.5.1 視點分段 243.5.2 生成無向加權圖 243.5.3 解旅行推銷員問題 263.5.4 產生路徑 273.5.5 碰撞檢查 28第四章 實驗結果與分析 304.1 測試模型說明 304.2 結果分析 344.2.1 使用者介面 354.2.2 模型簡化 374.2.3 視點生成 424.2.4 檢視路徑 454.2.5 模擬畫面 50第五章 結論與未來展望 545.1 研究結論 545.2 未來目標 54參考文獻 56附錄 58 zh_TW dc.format.extent 4248048 bytes - dc.format.mimetype application/pdf - dc.source.uri (資料來源) http://thesis.lib.nccu.edu.tw/record/#G0106753009 en_US dc.subject (關鍵詞) 無人機 zh_TW dc.subject (關鍵詞) 模型簡化 zh_TW dc.subject (關鍵詞) 覆蓋路徑規劃 zh_TW dc.subject (關鍵詞) UAV en_US dc.subject (關鍵詞) Mesh simplification en_US dc.subject (關鍵詞) Coverage path planning en_US dc.title (題名) 無人機於立體建物檢視之覆蓋路徑規劃 zh_TW dc.title (題名) UAV Coverage Path Planning for Building Inspection en_US dc.type (資料類型) thesis en_US dc.relation.reference (參考文獻) [1] E. Bone and C. Bolkcom, "Unmanned aerial vehicles: Background and issues for congress," 2003: Library of Congress Washington DC Congressional Research Service.[2] (19-Sep). 經緯航太 | GEOSAT. Available: https://www.geosat.com.tw/TW/index.aspx[3] 張竣堯, "運用無人飛行載具搭載紅外線進行建築外牆磁磚檢測," 建築研究簡訊 vol. 99, ed: 中華民國內政部建築研究所, 2018.[4] P. Cignoni, C. Montani, and R. Scopigno, "A comparison of mesh simplification algorithms," Computers & Graphics, vol. 22, no. 1, pp. 37-54, 1998.[5] D. Bommes, B. Lévy, N. Pietroni, E. Puppo, C. Silva, M. Tarini, and D. Zorin, "Quad‐mesh generation and processing: A survey," Computer Graphics Forum, vol. 32, no. 6, pp. 51-76: Wiley Online Library, 2013.[6] J. Daniels, C. T. Silva, J. Shepherd, and E. Cohen, "Quadrilateral mesh simplification," ACM transactions on graphics (TOG), vol. 27, no. 5, p. 148: ACM, 2008.[7] M. Tarini, N. Pietroni, P. Cignoni, D. Panozzo, and E. Puppo, "Practical quad mesh simplification," Computer Graphics Forum, vol. 29, no. 2, pp. 407-418: Wiley Online Library, 2010.[8] E. Galceran and M. Carreras, "A survey on coverage path planning for robotics," Robotics and Autonomous systems, vol. 61, no. 12, pp. 1258-1276, 2013.[9] T. Cabreira, L. Brisolara, and P. R. Ferreira Jr, "Survey on Coverage Path Planning with Unmanned Aerial Vehicles," Drones, vol. 3, no. 1, p 4, 2019.[10] Y. Li, H. Chen, M. Joo Er, and X. Wang, "Coverage path planning for UAVs based on enhanced exact cellular decomposition method," Mechatronics, vol. 21, no. 5, pp. 876-885, 2011.[11] M. Torres, D. A. Pelta, J. L. Verdegay, and J. C. Torres, "Coverage path planning with unmanned aerial vehicles for 3D terrain reconstruction," Expert Systems with Applications, vol. 55, pp. 441-451, 2016.[12] P. Cheng, J. Keller, and V. Kumar, "Time-optimal UAV trajectory planning for 3D urban structure coverage," in 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2750-2757: IEEE, 2008.[13] A. Bircher, K. Alexis, M. Burri, P. Oettershagen, S. Omari, T. Mantel, and R. Siegwart, "Structural inspection path planning via iterative viewpoint resampling with application to aerial robotics," in Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015.[14] S. Jung, S. Song, P. Youn, and H. Myung, "Multi-Layer Coverage Path Planner for Autonomous Structural Inspection of High-Rise Structures," in Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018.[15] T. Luukkonen, “Modelling and control of quadcopter,” Independent research project in applied mathematics. Aalto University School of Science, 2011.[16] K. Helsgaun, "An effective implementation of the Lin–Kernighan traveling salesman heuristic," European Journal of Operational Research, vol. 126, no. 1, pp. 106-130, 2000.[17] (9-Aug). DJI Maviz 2 Zoom. Available: https://store.dji.com/zh-tw/product/mavic-2?vid=45321[18] (9-Aug). DJI Matrice 200. Available: https://www.dji.com/tw/matrice-200-series-v2 zh_TW dc.identifier.doi (DOI) 10.6814/NCCU202001736 en_US
