loading
Papers Papers/2022 Papers Papers/2022

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Golizheh Mehrooz and Peter Schneider-Kamp

Affiliation: Dept. of Mathematics & Computer Science, University of Southern Denmark, Denmark

Keyword(s): Path Planning, Routing, A* Algorithm, Drone Inspections, Power Grids.

Abstract: Autonomous Beyond Visual Line of Sight (BVLOS) flights represent a huge opportunity in the drone industry due to their ability to monitor larger areas. Autonomous navigation and path planning are essential capabilities for BVLOS flights. In this paper, we introduce the routing component of a path planning system for inspecting linear infrastructures. We explore both a direct algorithm and a transformation algorithm. The direct algorithm is an extension of A* to allow limited routing through air as well as the use of non-logic intersections. The transformation algorithm pre-computes a graph that include edges for routing through air and nodes for non-logic intersections. We implemented both algorithms for routing along a particular type of linear infrastructure, power lines, and validated them through an empirical evaluation at three different scales: the Danish power grid, the French power grid, and the entire European power grid. The test results show that the transformation algorit hm allows for sub-second routing performance for a small-to-medium sized power grid. Larger power grids can be routed in less than five seconds, and even an optimal route of more than six thousand kilometers along linear infrastructures from Portugal to Sweden via Russia is found in less than half a minute. All algorithms have been implemented and are available as an open-source Python package for Linear-infrastructure Mission Control (LiMiC). (More)

CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 44.197.251.102

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Mehrooz, G. and Schneider-Kamp, P. (2020). Optimal Path Planning for Drone Inspections of Linear Infrastructures. In Proceedings of the 6th International Conference on Geographical Information Systems Theory, Applications and Management - GISTAM; ISBN 978-989-758-425-1; ISSN 2184-500X, SciTePress, pages 326-336. DOI: 10.5220/0009846703260336

@conference{gistam20,
author={Golizheh Mehrooz. and Peter Schneider{-}Kamp.},
title={Optimal Path Planning for Drone Inspections of Linear Infrastructures},
booktitle={Proceedings of the 6th International Conference on Geographical Information Systems Theory, Applications and Management - GISTAM},
year={2020},
pages={326-336},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009846703260336},
isbn={978-989-758-425-1},
issn={2184-500X},
}

TY - CONF

JO - Proceedings of the 6th International Conference on Geographical Information Systems Theory, Applications and Management - GISTAM
TI - Optimal Path Planning for Drone Inspections of Linear Infrastructures
SN - 978-989-758-425-1
IS - 2184-500X
AU - Mehrooz, G.
AU - Schneider-Kamp, P.
PY - 2020
SP - 326
EP - 336
DO - 10.5220/0009846703260336
PB - SciTePress