Enhanced discrete particle swarm optimization path planning for UAV vision-based surface inspection

Phung, Manh Duong and Quach, Cong Hoang and Dinh, Tran Hiep and Quang, Ha (2017) Enhanced discrete particle swarm optimization path planning for UAV vision-based surface inspection. Automation in Construction, 81 . pp. 25-33. ISSN 0926-5805

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Abstract

In built infrastructure monitoring, an efficient path planning algorithm is essential for robotic inspection of large surfaces using computer vision. In this work, we first formulate the inspection path planning problem as an extended travelling salesman problem (TSP) in which both the coverage and obstacle avoidance were taken into account. An enhanced discrete particle swarm optimization (DPSO) algorithm is then proposed to solve the TSP, with performance improvement by using deterministic initialization, random mutation, and edge exchange. Finally, we take advantage of parallel computing to implement the DPSO in a GPU-based framework so that the computation time can be significantly reduced while keeping the hardware requirement unchanged. To show the effectiveness of the proposed algorithm, experimental results are included for datasets obtained from UAV inspection of an office building and a bridge.

Item Type:	Article
Subjects:	Electronics and Communications Electronics and Communications > Electronics and Computer Engineering ISI-indexed journals
Divisions:	Faculty of Electronics and Telecommunications (FET)
Depositing User:	Dr Manh Duong Phung
Date Deposited:	14 Jun 2017 09:49
Last Modified:	14 Jun 2017 09:49
URI:	http://eprints.uet.vnu.edu.vn/eprints/id/eprint/2512

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