Abstract
This paper introduces a comprehensive approach to monorail bridge inspection utilizing unmanned aerial vehicles (UAVs) and digital twin technology. The autonomous UAV-based inspection design encompasses UAV dynamics, tracking control, path planning, and task execution. A dedicated digital twin platform is developed to facilitate rigorous testing and verification of UAV control, mitigating the necessity for extensive physical testing. Methodology validation is achieved through a combination of simulations and real-world experiments, affirming its efficacy in authentic scenarios and demonstrating the potential for advancing infrastructure inspection practices.
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