• 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