Multi-layer path planning for complete structural inspection using UAV

Abstract

This article addresses the path planning problem for complete structural inspection using an unmanned aerial vehicle (UAV). The proposed method emphasizes the scalability of the viewpoints and aims to provide practical solutions to different inspection distance requirements, eliminating the need for extra view-planning procedures. First, the mixed-viewpoint generation is proposed. Then, the Multi-Layered Angle-Distance Traveling Salesman Problem (ML-ADTSP) is solved, which aims to reduce overall energy consumption and inspection path complexity. A two-step Genetic Algorithm (GA) is used to solve the combinatorial optimization problem. The performance of different crossover functions is also discussed. By solving the ML-ADTSP, the simulation results demonstrate that the mean accelerations of the UAV throughout the inspection path are flattened significantly, improving the overall path smoothness and reducing traversal difficulty. With minor low-level optimization, the proposed framework can be applied to inspect different structures.