Smooth Coverage Path Planning for UAVs with Model Predictive Control Trajectory Tracking

Within the Industry 4.0 ecosystem, Inspection Robotics is one fundamental technology to speed up monitoring processes and obtain good accuracy performance of inspections while avoiding possible safety issues for human personnel. This manuscript investigates robotics inspection areas surfaces employing Unmanned Aerial Vehicles (UAVs). The contribution starts by addressing problem coverage path planning proposes a smoothing approach intended reduce both flight time memory consumption store target navigation path. Evaluation tests are conducted on quadrotor equipped with Model Predictive Control (MPC) policy Simultaneous Localization Mapping (SLAM) algorithm localize UAV in environment.