An Optimization Algorithm for the NP-hard 3D Gallery Guarding Problem and its Application on Autonomous Pipeline Inspection
نویسندگان
چکیده
This paper introduces a hierarchical optimization algorithm to an open NP-hard 3D guarding problem for massive data sets. The proposed hierarchical integer linear programming (HILP) algorithm can find the fewest spots necessary to cover an entire given 3D region. Efficiently solving this problem can greatly benefit autonomous pipeline monitoring and inspections. Unlike most existing pipeline inspection systems that focus on designing mobility and control of the explore robots, this framework focuses on planning automatic and thorough inspection in a complex environment. We demonstrate its efficacy on a simulated system built upon scanned pipelines environments using our prototype robots, in which leaks, clogs, and deformation can be detected thoroughly.
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