Details

Autor(en) / Beteiligte

• McFadyen, Aaron
• Dayoub, Feras
• Martin, Steve
• Ford, Jason
• Corke, Peter

Titel

Assisted Control for Semi-Autonomous Power Infrastructure Inspection Using Aerial Vehicles

Ist Teil von

• 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, p.5719-5726

Ort / Verlag

IEEE

Erscheinungsjahr

2018

Link zum Volltext

• IEEE_Xplore

Quelle

IEEE/IET Electronic Library (IEL)

Beschreibungen/Notizen

• This paper presents the design and implementation of an assisted control technology for a small multirotor platform for aerial inspection of fixed energy infrastructure. Sensor placement is supported by a theoretical analysis of expected sensor performance and constrained platform behaviour to speed up implementation. The optical sensors provide relative position information between the platform and the asset, which enables human operator inputs to be autonomously adjusted to ensure safe separation. The assisted control approach is designed to reduced operator workload during close proximity inspection tasks, with collision avoidance and safe separation managed autonomously. The energy infrastructure includes single vertical wooden poles and crossarm with attached overhead wires. Simulated and real experimental results are provided.