空中ロボットによる電力インフラ半自律点検のための支援制御
Assisted Control for Semi-Autonomous Power Infrastructure Inspection using Aerial Vehicles
小型マルチロータで電力インフラを近接点検する際、光学センサで機体と設備の相対位置を推定し、操作者入力を自動補正して衝突回避と安全距離を保つ支援制御を設計・実証した論文。
著者: Aaron McFadyen, Feras Dayoub, Steve Martin, Jason Ford, Peter Corke
分類: cs.RO
原文アブストラクト
This paper presents the design and implementation of an assisted control technology for a small multirotor platform for aerial inspection of fixed energy infrastructure. Sensor placement is supported by a theoretical analysis of expected sensor performance and constrained platform behaviour to speed up implementation. The optical sensors provide relative position information between the platform and the asset, which enables human operator inputs to be autonomously adjusted to ensure safe separation. The assisted control approach is designed to reduced operator workload during close proximity inspection tasks, with collision avoidance and safe separation managed autonomously. The energy infrastructure includes single vertical wooden poles and crossarm with attached overhead wires. Simulated and real experimental results are provided.
