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Keywords = rail-mounted gantry crane tracks (RMGCTs)

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23 pages, 6934 KiB  
Article
UAV Path Planning for Container Terminal Yard Inspection in a Port Environment
by Gang Tang, Chenyuan Wang, Zhao Zhang and Shaoyang Men
J. Mar. Sci. Eng. 2024, 12(1), 128; https://doi.org/10.3390/jmse12010128 - 9 Jan 2024
Cited by 3 | Viewed by 2273
Abstract
Container terminal yards are automated terminal yards. The rail-mounted gantry crane (RMGC) and rail-mounted gantry crane tracks (RMGCTs) that frequently operate in terminal yards need to be inspected regularly to ensure the safe operation of container transportation in the yard. This paper proposes [...] Read more.
Container terminal yards are automated terminal yards. The rail-mounted gantry crane (RMGC) and rail-mounted gantry crane tracks (RMGCTs) that frequently operate in terminal yards need to be inspected regularly to ensure the safe operation of container transportation in the yard. This paper proposes a framework for the path planning of RMGCT visual inspection using a UAV in container terminal yards in a port environment. The framework consisted of two main aspects. First, a global path to all inspection viewpoints was planned according to the inspection requirements using the A* algorithm and the improved minimum snap method. Second, the intelligent bidirectional rapidly exploring random trees star (IB-RRT*) algorithm was introduced to plan the local path during the flight of the UAV. Finally, the feasibility of the path-planning framework was demonstrated using simulation experiments. Full article
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