Autonomous and scalable control for remote inspection with multiple aerial vehicles

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• 作者：Ruaridh A. Clark ; ^{ruaridh.clark@strath.ac.uk}Author Vitae ; Giuliano PunzoAuthor Vitae ; Charles N. MacLeodAuthor Vitae ; Gordon DobieAuthor Vitae ; Rahul SummanAuthor Vitae ; Gary BoltonAuthor Vitae ; Stephen G. PierceAuthor Vitae ; Malcolm MacdonaldAuthor Vitae
• 关键词：Artificial kinematic field ; Automatic optical inspection ; Photogrammetry ; Swarm ; Unmanned aerial vehicle control
• 刊名：Robotics and Autonomous Systems
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：87
• 期：Complete
• 页码：258-268
• 全文大小：2643 K
• 卷排序：87

文摘

A novel approach to the autonomous generation of trajectories for multiple aerial vehicles is presented, whereby an artificial kinematic field provides autonomous control in a distributed and highly scalable manner. The kinematic field is generated relative to a central target and is modified when a vehicle is in close proximity of another to avoid collisions. This control scheme is then applied to the mock visual inspection of a nuclear intermediate level waste storage drum. The inspection is completed using two commercially available quadcopters, in a laboratory environment, with the acquired visual inspection data processed and photogrammetrically meshed to generate a three-dimensional surface-meshed model of the drum. This paper contributes to the field of multi-agent coverage path planning for structural inspection and provides experimental validation of the control and inspection results.