Workspace Modeling and Path Planning for Truss Structure Inspection by Unmanned Aircraft

What is it about?

Small unmanned aircraft systems can increase efficiency and reduce risk to humans during the inspection of truss-supported structures such as steel bridges. This paper describes a method to mathematically represent a truss and subsequently to plan an efficient, collision-free path for a multirotor aircraft that visits a number of user-prescribed points at which the aircraft must obtain images of the structure.

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