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Coverage Path Planning Techniques for Inspection of Disjoint Regions With Precedence Provision

机译:覆盖路径规划技术,用于检验Perfequence Provision的不相交区域

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摘要

Recent times are witnessing an emergence of sites that are hazardous for human access. This has created a global demand to equip agents with the ability to autonomously inspect such environments by computing a coverage path effectively and efficiently. However, inspection of such sites requires agents to consider the correlation of work, providing precedence provision in visiting regions. The current approaches to compute coverage path in the hazardous sites, however, do not consider precedence provision. To this end, coverage path planning strategies are proposed, which provide precedence provision. To meet the challenges, the problem is divided into two phases: inter-region and intra-region path planning. In the ‘inter-region’ path planning of the approach, the site comprising of multiple disjoint regions is modelled as connectivity graph. Two novel approaches, Mixed Integer Linear Programming (MILP) solution and heuristic based techniques, are proposed to generate the ordered sequence of regions to be traversed. In the ‘intra-region’ path planning of the approach, each region is decomposed into a grid and Boustrophedon Motion is planned over each region. The ability of combined approach to provide complete coverage is proved under minor assumption. An investigative study has been conducted to elucidate the efficiency of the proposed approach in different scenarios using simulation experiments. The proposed approach is evaluated against baseline approaches. The results manifest a significant reduction in cost and execution time, which caters to inspection of target sites comprising of multiple disjoint regions with precedence provision.
机译:近期目睹了对人类访问有害的遗址的出现。这创造了通过在有效且有效地计算覆盖路径来自主检查这种环境的能力来创造了全球需求。但是,检验此类网站需要代理人考虑工作的相关性,提供参观区域的优先级。然而,计算危险场所中的覆盖路径的目前方法不考虑优先级。为此,提出了覆盖路径规划策略,提供了优先拨备。为满足挑战,问题分为两个阶段:区域间和地区内路径规划。在该方法的“区域间”路径规划中,包括多个不相交区域的站点被建模为连接图。提出了两种新方法,混合整数线性编程(MILP)解决方案和启发式技术,以生成要遍历的有序区域序列。在该方法的“区域内的”路径规划中,每个区域被分解成网格,并在每个区域上计划百国运动。在轻微的假设下证明了组合方法提供完整覆盖的能力。已经进行了一种调查研究,以阐明使用模拟实验在不同场景中提出的方法的效率。拟议的方法是针对基线方法的评估。结果表明了成本和执行时间的显着降低,这迎合了具有优先级的多个不相交区域的目标站点。

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