论文标题
螺旋轨迹，用于建筑物检查
Spiral Trajectories for Building Inspection with Quadrotors
论文作者
论文摘要
检查大型建筑是一项重要任务，因为它可以防止物质和人类损失。进行检查的便宜而快速的方法是安装在四型车辆上的传感器。这里的挑战是计算一个轨迹，以便完全观察到建筑物，而相同的轨迹可以以平滑的方式遵循四个轨迹。为了解决该问题，我们提出了一种接收目标构建的2.5D模型的方法，并计算了四个四极管控制器可以跟随的平滑轨迹。计算的轨迹是与所需行为相匹配的傅立叶系列。我们的方法已在模拟中进行了测试，我们将其与多项式轨迹进行了比较。我们的结果表明该方法是有效的，可以应用于不同的建筑形状。
Inspection of large building is an important task since it can prevent material and human losses. A cheap and fast way to do the inspections is by sensors mounted on quadrotor vehicles. The challenge here is to compute a trajectory so that the building is completely observed while this same trajectory can be followed by the quadrotor in a smooth way. To address the problem, we propose a method that receives a 2.5D model of the target building and computes a smooth trajectory that can be followed by the quadrotor controller. The computed trajectory is a Fourier series that matches the desired behaviour. Our method has been tested in simulation and we have compared it against polynomial trajectories. Our result show that the method is efficient and can be applied to different building shapes.
