Abstract
| Original language | English |
|---|---|
| Number of pages | 19 |
| Journal | Journal of Intelligent and Robotic Systems |
| Publication status | Accepted/In press - 19 Jan 2018 |
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Keywords
- UAV
- bipartite architecture
- Lyapunov vector field
- industrial applications
- autonomous aerial inspection
- roofs
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Bipartite guidance, navigation and control architecture for autonomous aerial inspections under safety constraints. / Punzo, Giuliano; MacLeod, Charles; Baumanis, Kristaps; Summan, Rahul; Dobie, Gordon; Pierce, Stephen; Macdonald, Malcolm.
In: Journal of Intelligent and Robotic Systems, 19.01.2018.Research output: Contribution to journal › Article
TY - JOUR
T1 - Bipartite guidance, navigation and control architecture for autonomous aerial inspections under safety constraints
AU - Punzo, Giuliano
AU - MacLeod, Charles
AU - Baumanis, Kristaps
AU - Summan, Rahul
AU - Dobie, Gordon
AU - Pierce, Stephen
AU - Macdonald, Malcolm
PY - 2018/1/19
Y1 - 2018/1/19
N2 - In this work the autonomous flight of a drone for inspection of sensitive environments is considered. Continuous monitoring, the possibility of override and the minimisation of the on-board computational load are prioritized. The drone is programmed with a Lyapunov vector guidance and nonlinear control to fly a trajectory passed, leg after leg, by a remote ground station. GPS is the main navigation tool used. Computational duties are split between the ground station and the drone’s on board computer, with the latter dealing with the most time critical tasks. This bipartite autonomous system marries recent advancements in autonomous flight with the need for safe and reliable robotic systems to be used for tasks such as inspection or structural health monitoring in industrial environments. A test case and inspection data from a test over flat lead roof structure are presented.
AB - In this work the autonomous flight of a drone for inspection of sensitive environments is considered. Continuous monitoring, the possibility of override and the minimisation of the on-board computational load are prioritized. The drone is programmed with a Lyapunov vector guidance and nonlinear control to fly a trajectory passed, leg after leg, by a remote ground station. GPS is the main navigation tool used. Computational duties are split between the ground station and the drone’s on board computer, with the latter dealing with the most time critical tasks. This bipartite autonomous system marries recent advancements in autonomous flight with the need for safe and reliable robotic systems to be used for tasks such as inspection or structural health monitoring in industrial environments. A test case and inspection data from a test over flat lead roof structure are presented.
KW - UAV
KW - bipartite architecture
KW - Lyapunov vector field
KW - industrial applications
KW - autonomous aerial inspection
KW - roofs
UR - http://link.springer.com/journal/10846
M3 - Article
JO - Journal of Intelligent and Robotic Systems
JF - Journal of Intelligent and Robotic Systems
SN - 0921-0296
ER -