Nowadays, unmanned aerial vehicles or UAVs are being used for a wide range of tasks, including infrastructure inspection, automated monitoring and coverage. This paper investigates the problem of 3D inspection planning with an autonomous UAV agent which is subject to dynamical and sensing constraints. We propose a receding horizon 3D inspection planning control approach for generating optimal trajectories which enable an autonomous UAV agent to inspect a finite number of feature-points scattered on the surface of a cuboid-like structure of interest. The inspection planning problem is formulated as a constrained open-loop optimal control problem and is solved using mixed integer programming (MIP) optimization. Quantitative and qualitative evaluation demonstrates the effectiveness of the proposed approach.

翻译：如今，无人机正广泛应用于基础设施检测、自动化监控与覆盖等任务。本文研究存在动力学与感知约束的自主无人机智能体进行三维检测规划的问题。我们提出一种滚动时域三维检测规划控制方法，用于生成最优轨迹，使自主无人机智能体能够检测分散在目标立方体结构表面的有限个特征点。该检测规划问题被表述为带约束的开环最优控制问题，并通过混合整数规划优化求解。定量与定性评估结果表明了所提方法的有效性。