Discrete Waypoint Optimization for UAS-Based Inspection Missions
Aaron Wickers, Dominik Thomas, Mirco Alpen, Joachim Horn, Max Gündel · 2025
This paper introduces a discrete waypoint optimization framework tailored for unmanned aerial systems (UAS) performing infrastructure inspections. The method evaluates a set of candidate waypoints based on weighted multi-objective criteria including distance, sensor angle, lighting conditions, and wind influence. Waypoints are filtered for feasibility and visibility using a voxel-based model of the structure and validated on a real-world bridge segment modeled via point cloud. Results demonstrate that the approach generates collision-free, informative waypoint sets while maintaining adaptability to environmental constraints and sensor-specific requirements.