無人航空機群を用いた構造物外観状態計測のための領域割り当てと衝突回避

抄録

Infrastructure maintenance is a major problem. Asa’s Prior research has proposed a measurement planning method to measure damages with the resolution requested for damage detection. On the other hand, there is a limit to the work efficiency of a single UAV. Therefore, we aim to improve the efficiency of inspection work by having multiple UAV collect data in parallel. In particular, we will examine the allocation of work areas and collision avoidance required when the number of UAV is increased. The allocation will be done by clustering based on the measurement position, which affects the travel time of the UAV. Then, the measurement position corresponding to node of the travel route is changed to a position that can be kept at a distance between UAV and that can be measured with the required resolution.