The Navigation and Control Study of UAV for Cross-domain Bridge Collaboration Detection

Abstract

The automation of bridge detection will become one major trend in the future. Cross-domain collaborative robotic detection is a promising way for intelligent bridge detection. Among various robots, the goal of UAV is to obtain a quick and full-coverage detection, and guide the other robots to perform more detailed detections. Because the UAV has superior maneuverability than other robots. However, it is very challenging for UAV to autonomously realize the quick full-coverage detection, considering the complicated operation environment, such as the pier obstruction problem. In this paper, we proposed a novel path planning method for UAV to address full-coverage detection problem. In addition, we designed a controller for UAV to track the planned paths. The simulation results are used to verify the above studies.