小型ドローンによる原子炉格納容器内部の自律検査
Nuclear Environments Inspection with Micro Aerial Vehicles: Algorithms and Experiments
計算資源が限られたCPUを搭載した小型クアッドロータで、危険な原子力施設内部を自律飛行しつつ地図生成と障害物回避を行うシステムを開発し、実寸大モックアップで照明条件を変えながら検証した。
著者: Dinesh Thakur, Giuseppe Loianno, Wenxin Liu, Vijay Kumar
分類: cs.RO
原文アブストラクト
In this work, we address the estimation, planning, control and mapping problems to allow a small quadrotor to autonomously inspect the interior of hazardous damaged nuclear sites. These algorithms run onboard on a computationally limited CPU. We investigate the effect of varying illumination on the system performance. To the best of our knowledge, this is the first fully autonomous system of this size and scale applied to inspect the interior of a full scale mock-up of a Primary Containment Vessel (PCV). The proposed solution opens up new ways to inspect nuclear reactors and to support nuclear decommissioning, which is well known to be a dangerous, long and tedious process. Experimental results with varying illumination conditions show the ability to navigate a full scale mock-up PCV pedestal and create a map of the environment, while concurrently avoiding obstacles.
