2019/10/03 by Kevin Yu, Yu, Kevin, Prajwal Shanthakumar +10
Computer Science · Engineering · #FOS: Computer and information sciences #Robotic Path Planning Algorithms #Robotics (cs.RO) #Robotics and Sensor-Based Localization #Smart Parking Systems Research #cs.RO
paper · pdf · doi:10.48550/arxiv.1910.02786
9 pages, 14 figures
arxiv created 2019/10/03 · openalex publication_date 2019/10/03 · arxiv updated 2019/10/08 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
We study the problem of infrastructure inspection using an Unmanned Aerial Vehicle (UAV) in box girder bridge environments. We consider a scenario where the UAV needs to fully inspect box girder bridges and localize along the bridge surface when standard methods like GPS and optical flow are denied. Our method for overcoming the difficulties of box girder bridges consist of creating local navigation routines, a supervisor, and a planner. The local navigation routines use two 2D Lidars for girder and column flight. For switching between local navigation routines we implement a supervisor which dictates when the UAV is able to switch between local navigation routines. Lastly, we implement a planner to calculate the path along that box girder bridge that will minimize the flight time of the UAV. With local navigation routines, a supervisor, and a planner we construct a system that can fully and autonomously inspect box girder bridges when standard methods are unavailable.