小型回転翼UAVによる災害現場撮影用パスプランニング

• 瀬戸口 和穂

  九州大学大学院工学府航空宇宙工学専攻 現 川崎重工業株式会社

• 東野 伸一郎

  九州大学大学院工学研究院航空宇宙工学部門

• 満武 勝嗣

  株式会社ゼノクロス

書誌事項

タイトル別名

• Path Planning for Disaster Monitoring by a Small Rotorcraft UAV

抄録

A method for autonomous path planning for disaster monitoring such as Fukushima nuclear power station accident in 2011 using a small rotorcraft UAV is proposed. In this method, a rotorcraft can search around damaged buildings without specifying the waypoints by an operator. Airspace including obstacles is assumed to be composed of 3D cells, and the vertexes of 3D cells become the candidates for waypoints. The waypoints through which the UAV can pass are obtained as flyable waypoints by searching and avoiding the position of 3D cells which include the objects inside them using laser scanning. The UAV first chooses the waypoints suitable for taking images from the flyable waypoints using evolutionary computation, and then generates 3D flight path using A*-EC hybrid path planning method. A*-EC hybrid path planning method is a technique for generating flight path quickly considering obstacle avoidance. Path planning problem is solved while the number of waypoints and final destination is unknown and the waypoints are changing as the UAV moves. The result of the simulation shows that the flight path suited for monitoring and taking images is obtained by the method quickly.

収録刊行物

• 航空宇宙技術

  航空宇宙技術 15 (0), 23-32, 2016

  一般社団法人 日本航空宇宙学会

キーワード

• Rotorcraft UAV
• Disaster Monitoring
• Path Planning
• A*-EC
• Evolutionary Computation

詳細情報

• CRID: 1390282680297699200
• NII論文ID: 130005151540
• DOI: 10.2322/astj.15.23
• ISSN: 18840477
• Web Site: https://www.jstage.jst.go.jp/article/astj/15/0/15_JSASS-D-14-00047/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
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