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In recent years, using drone, also known as unmanned aerial vehicle (UAV), inclose-distance visual inspection has became an active area in many disciplines.However, many challenges still remain before we can achieve autonomousinspection, especially when inspecting complex structures. The complex civilstructures, such as bridges, dams and wind turbines, are large-scale andgeometrical complicated. It requires sophisticated path planning algorithms toachieve close-distance inspection and, at the same time, avoid collisions. Inpractice, directly deploying the path planning result on such structures iserror prone, costly, and full of hazards. In this paper, rely on microquadrotor UAV, the authors present an affordable experimental platform fortesting drone-based path planning result. The platform allows the users toconduct many path planning experiments at any time without worrying expensiveand time consuming outdoor test flying. This platform is developed based on thebundle of Crazyflie, which includes Crazyflie 2.0 quadrotor, Crazyradio andloco positioning system (LPS). Equipped with an onboard micro FPV camera, thevisual data can be lively streamed to the host computer during flight. Thefunctions of manual configuration and waypoints control are explicitly designedin this platform to increase its flexibility and performance on path followingand debugging. To evaluate the practicability of the proposed test platform,two existing drone-based path planning algorithms are tested. The results showthat even though certain level of error existed, the quality of visual data andaccuracy of path following are high enough for simulating most practicalinspection applications.

Indoor Testing and Simulation Platform for Close-distance Visual Inspection of Complex Structures using Micro Quadrotor UAV