Radio-Map-Based Flight Planning of Autonomous Repeater Drones for Bridge Inspection

Bridge inspection using drones has become considerably more attractive owing to the ability of drones to gather information safely in lesser time and at a lower cost than traditional inspection methods. However, one of the critical issues in drone-based bridge inspection is ensuring stable communication between the operation base and inspection drones. The inspection drone easily loses sight of the operation base because bridges have intricate structures. Therefore, this study developed a radio map-based flight planning method of autonomous repeater drones for bridge inspection in order to ensure stable communication. Based on the inspection scenario, the repeater drone needs to ensure the communication with a minimum movement even under position deviations caused by winds. First, we generated a three-dimensional radio map of the bridge. Then, under the assumption that the inspection drone adopted a predetermined path, we developed a path planning method for a repeater drone based on the radio map. Some path planning examples demonstrated that the generated path reduces the moving distance and is also robust against the position error, in addition to ensuring stable communication.