UAV-based 3D Structural Inspection
In this project, we are investigating algorithms for performing complete 3D coverage path planning of structures such as bridges, towers, buildings and other structures. Starting from a 3-D model of a structure, our proposed method uses slicing techniques to decompose the available surfaces of the structure into contiguous regions. Then, a graph-based algorithm is used to compute a collision-free navigation path for the UAV that maintains a specified offset of the UAV's coverage sensor (e.g., camera, laser or Lidar) from the surfaces of the structure. Our proposed algorithm guarantees complete 3D coverage of the structure while reducing the time and energy expended in performing the coverage.
Autonomous Inventory Counting Using UAV
In this project, we developed a technique for a quadrotor type UAV to autonomously perform systematic coverage of a warehouse shelf-like structure for counting inventory on shelves. To localize the UAV at each shelf, we use markers called AprilTags that are perceived by the UAV's camera to calculate the 3D position of the UAV in real-time. Each marker also encodes the information for the next maneuver of the UAV. In this way, the entire flight path of the UAV to cover all the shelves in the warehouse is encoded in the markers
UAV-based Autonomous Monitoring of Crop Health
In this project, a multi-spectral sensor called Micasense Rededge, was integrated on an Asctec Pelican UAV. The UAV was autonomously flown utilizing its on-board flight controller over a small portion of a prairie. Spectral data was collected from the vegetation.
Other Ongoing UAV Projects
- Multi UAV-based Intelligent and Energy-Aware Traffic Monitoring
- Swarm Influencing
- UAV-based gas sensing