relation: https://eprints.uet.vnu.edu.vn/eprints/id/eprint/2512/
title: Enhanced discrete particle swarm optimization path planning for UAV vision-based surface inspection
creator: Phung, Manh Duong
creator: Quach, Cong Hoang
creator: Dinh, Tran Hiep
creator: Quang, Ha
subject: Electronics and Communications
subject: Electronics and Computer Engineering
subject: ISI-indexed journals
description: 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.
publisher: Elsevier
date: 2017
type: Article
type: PeerReviewed
format: application/pdf
language: en
identifier: https://eprints.uet.vnu.edu.vn/eprints/id/eprint/2512/1/1-s2.0-S0926580517303825-AUTCON2017.pdf
identifier:   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     
relation: http://www.sciencedirect.com/science/article/pii/S0926580517303825
relation: 10.1016/j.autcon.2017.04.013