2024/08/14 by Yiping Dong, Dong, Yiping · 3 citations
Earth and Planetary Sciences · Engineering · #3D Surveying and Cultural Heritage #BIM and Construction Integration #FOS: Computer and information sciences #FOS: Electrical engineering #Robotics (cs.RO) #Systems and Control (eess.SY) #Tunneling and Rock Mechanics #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2408.07286
openalex publication_date 2024/08/14 · openalex created_date 2024/09/11 · openalex updated_date 2026/07/28
This article presents novel designs of autonomous UAV prototypes specifically developed for inspecting GPS-denied tunnel construction environments with dynamic human and robotic presence. Our UAVs integrate advanced sensor suites and robust motion planning algorithms to autonomously navigate and explore these complex environments. We validated our approach through comprehensive simulation experiments in PX4 Gazebo and Airsim Unreal Engine 4 environments. Real-world wind tests and exploration experiments demonstrate the UAVs' capability to operate stably under diverse environmental conditions without GPS assistance. This study highlights the practicality and resilience of our UAV prototypes in real-world applications.