DocumentCode
664282
Title
Automated aerial inspection guidance with improved turn planning
Author
Bruggemann, Troy S. ; Ford, Jason J.
Author_Institution
Cooperative Res. Centre for Spatial Inf., Queensland Univ. of Technol., Brisbane, QLD, Australia
fYear
2013
fDate
4-5 Nov. 2013
Firstpage
282
Lastpage
288
Abstract
Aerial inspection of pipelines, powerlines, and other large linear infrastructure networks has emerged in a number of civilian remote sensing applications. Challenges relate to automating inspection flight for under-actuated aircraft with LiDAR/camera sensor constraints whilst subjected to wind disturbances. This paper presents new improved turn planning strategies with guidance suitable for automation of linear infrastructure inspection able to reduce inspection flight distance by including wind information. Simulation and experimental flight tests confirmed the flight distance saving, and the proposed guidance strategies exhibited good tracking performance in a range of wind conditions.
Keywords
aircraft control; automatic optical inspection; mobile robots; path planning; telerobotics; automated aerial inspection guidance; inspection flight distance reduction; linear infrastructure inspection automation; turn path planning; under-actuated aircraft; wind information; Aircraft; Inspection; Path planning; Planning; Turning; Wind speed;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (AUCC), 2013 3rd Australian
Conference_Location
Fremantle, WA
Print_ISBN
978-1-4799-2497-4
Type
conf
DOI
10.1109/AUCC.2013.6697286
Filename
6697286
Link To Document