The Library
Towards an autonomous indoor aerial inspection vehicle
Tools
Winkvist, Stefan, Rushforth, Emma and Young, K. (Ken) (2013) Towards an autonomous indoor aerial inspection vehicle. Industrial Robot: An International Journal, Volume 40 (Number 3). pp. 196-207. doi:10.1108/01439911311309870 ISSN 0143-991X.
Research output not available from this repository.
Request-a-Copy directly from author or use local Library Get it For Me service.
Official URL: http://dx.doi.org/10.1108/01439911311309870
Abstract
Purpose - The purpose of this paper is to present a novel approach to the design of an autonomous Unmanned Aerial Vehicle (UAV) to aid with the internal inspection and classification of tall or large structures. Focusing mainly on the challenge of robustly determining the position and velocity of the UAV, in three dimensional space, using on-board Simultaneous Localisation and Mapping (SLAM). Although capable of autonomous flight, the UAV is primarily intended for semi-autonomous operation, where the operator instructs the UAV where to go. However, if communications with the ground station are lost, it can backtrack along its path until communications are re-established.
Design/methodology/approach - A UAV has been designed and built using primarily commercial-off-the-shelf components. Software has been developed to allow the UAV to operate autonomously, using solely the on-board computer and sensors. It is currently undergoing extensive flight tests to determine the performance and limitations of the system as a whole.
Findings - Initial test flights have proven the presented approach and resulting real-time SLAM algorithms to function robustly in a range of large internals. The paper also briefly discusses the approach used by similar projects and the challenges faced.
Originality/value - The proposed novel algorithms allow for on-board, real-time, three-dimensional SLAM in unknown and unstructured environments on a computationally constrained UAV.
Item Type: | Journal Article | ||||
---|---|---|---|---|---|
Subjects: | T Technology > TJ Mechanical engineering and machinery | ||||
Divisions: | Faculty of Science, Engineering and Medicine > Engineering > WMG (Formerly the Warwick Manufacturing Group) | ||||
Library of Congress Subject Headings (LCSH): | Robotics, Automatic control, Autonomous robots, Robots -- Control systems, Automatic tracking | ||||
Journal or Publication Title: | Industrial Robot: An International Journal | ||||
Publisher: | Emerald Group Publishing Limited | ||||
ISSN: | 0143-991X | ||||
Official Date: | 2013 | ||||
Dates: |
|
||||
Volume: | Volume 40 | ||||
Number: | Number 3 | ||||
Page Range: | pp. 196-207 | ||||
DOI: | 10.1108/01439911311309870 | ||||
Status: | Peer Reviewed | ||||
Publication Status: | Published | ||||
Access rights to Published version: | Restricted or Subscription Access | ||||
Funder: | Sellafield Ltd., Engineering and Physical Sciences Research Council (EPSRC) |
Request changes or add full text files to a record
Repository staff actions (login required)
View Item |