HD Camera-Equipped UAV Trajectory Planning for Gantry Crane Inspection

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dc.contributor.authorTang, Gang
dc.contributor.authorGu, Jiaxu
dc.contributor.authorZhu, Weidong
dc.contributor.authorClaramunt, Christophe
dc.contributor.authorZhou, Peipei
dc.date.accessioned2022-05-11T13:21:17Z
dc.date.available2022-05-11T13:21:17Z
dc.date.issued2022-03-30
dc.description.abstractWhile Unmanned Aerial Vehicles (UAVs) can be a valuable solution for the damage inspection of port machinery infrastructures, their trajectories are still prone to collision risks, trajectory non-smoothness, and large deviations. This research introduces a trajectory optimization method for inspecting vulnerable parts of a gantry crane by a UAV fitted with a high-definition (HD) camera. We first analyze the vulnerable parts of a gantry crane, then use the A* algorithm to plan a path for the UAV. The trajectory optimization process is divided into two steps, the first is a trajectory correction method and the second is an objective function that applies a minimum snap method while taking into consideration flight corridor constraints. The experimental simulation results show that, compared with previous methods, our approach can not only generate a collision-free and smooth trajectory but also shorten the trajectory length significantly while substantially reducing the maximum deviation average deviation distances. The simulation results show that this modelling approach provides a valuable solution for UAV trajectory planning for gantry crane inspection.en_US
dc.description.sponsorshipThis research was funded by the National Natural Science Foundation of China, grant number 51905557, and the APC was funded by the National Natural Science Foundation of China, in part by the Shanghai Sailing Program, grant number 19YF1418900. This research was supported in part by the National Natural Science Foundation of China (NO. 51905557) and in part by the Shanghai Sailing Program (NO. 19YF1418900).en_US
dc.description.urihttps://www.mdpi.com/2072-4292/14/7/1658en_US
dc.format.extent14 pagesen_US
dc.genrejournal articlesen_US
dc.identifierdoi:10.13016/m2zr6w-j3xu
dc.identifier.citationTang, G.; Gu, J.; Zhu, W.; Claramunt, C.; Zhou, P. HD Camera-Equipped UAV Trajectory Planning for Gantry Crane Inspection. Remote Sens. 2022, 14, 1658. https:// doi.org/10.3390/rs14071658en_US
dc.identifier.isbnhttps://doi.org/10.3390/rs14071658
dc.identifier.urihttp://hdl.handle.net/11603/24682
dc.identifier.urihttps://doi.org/10.3390/rs14071658
dc.language.isoen_USen_US
dc.publisherMDPIen_US
dc.relation.isAvailableAtThe University of Maryland, Baltimore County (UMBC)
dc.relation.ispartofUMBC Mechanical Engineering Department Collection
dc.relation.ispartofUMBC Faculty Collection
dc.rightsThis work was written as part of one of the author's official duties as an Employee of the United States Government and is therefore a work of the United States Government. In accordance with 17 U.S.C. 105, no copyright protection is available for such works under U.S. Law.en_US
dc.rightsPublic Domain Mark 1.0*
dc.rights.urihttp://creativecommons.org/publicdomain/mark/1.0/*
dc.titleHD Camera-Equipped UAV Trajectory Planning for Gantry Crane Inspectionen_US
dc.typeTexten_US
dcterms.creatorhttps://orcid.org/0000-0003-2707-2533en_US

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