dc.creator | Faria, Margarida | es |
dc.creator | Ferreira, António Sérgio | es |
dc.creator | Pérez-León, Héctor | es |
dc.creator | Maza Alcañiz, Iván | es |
dc.creator | Viguria, Antidio | es |
dc.date.accessioned | 2020-02-13T19:18:32Z | |
dc.date.available | 2020-02-13T19:18:32Z | |
dc.date.issued | 2019-11 | |
dc.identifier.citation | Faria, M., Ferreira, A.S., Pérez-León, H., Maza Alcañiz, I. y Viguria, A. (2019). Autonomous 3D Exploration of Large Structures Using an UAV Equipped with a 2D LIDAR. Sensors, 19 (22). Article number 4849. | |
dc.identifier.issn | 1424-8220 | es |
dc.identifier.uri | https://hdl.handle.net/11441/93149 | |
dc.description.abstract | 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 | es |
dc.description.sponsorship | Unión Europea Marie Sklodowska-Curie 64215 | es |
dc.description.sponsorship | Unión Europea MULTIDRONE (H2020-ICT-731667) | es |
dc.description.sponsorship | Uniión Europea HYFLIERS (H2020-ICT-779411) | es |
dc.format | application/pdf | es |
dc.language.iso | eng | es |
dc.publisher | MDPI | es |
dc.relation.ispartof | Sensors, 19 (22). Article number 4849. | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.subject | Structure inspection | es |
dc.subject | Path planning | es |
dc.subject | Unmanned aerial vehicles (UAVs) | es |
dc.subject | Autonomous exploration | es |
dc.subject | Laser scanning | es |
dc.title | Autonomous 3D Exploration of Large Structures Using an UAV Equipped with a 2D LIDAR | es |
dc.type | info:eu-repo/semantics/article | es |
dcterms.identifier | https://ror.org/03yxnpp24 | |
dc.type.version | info:eu-repo/semantics/publishedVersion | es |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es |
dc.contributor.affiliation | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática | es |
dc.relation.projectID | Marie Sklodowska-Curie 64215 | es |
dc.relation.projectID | MULTIDRONE (H2020-ICT-731667) | es |
dc.relation.projectID | HYFLIERS (H2020-ICT-779411) | es |
dc.relation.publisherversion | https://doi.org/10.3390/s19224849 | es |
dc.identifier.doi | 10.3390/s19224849 | es |
dc.contributor.group | TEP151: Robótica, Visión y Control | es |
idus.format.extent | 24 p. | es |
dc.journaltitle | Sensors | es |
dc.publication.volumen | 19 | es |
dc.publication.issue | 22 | es |
dc.publication.endPage | Article number 4849 | es |