空中ロボットによる船舶バラスト水タンクの自律探索と汎用目視検査
Autonomous Exploration and General Visual Inspection of Ship Ballast Water Tanks using Aerial Robots
ドローンが狭いマンホールでつながる船舶のバラスト水タンク内を自律的に探索し、表面からの距離制約を守りながら目視検査する手法を提案し、シミュレーションと実船実験で検証した。
著者: Mihir Dharmadhikari, Paolo De Petris, Mihir Kulkarni, Nikhil Khedekar, Huan Nguyen, Arnt Erik Stene, Eivind Sjøvold, Kristian Solheim, Bente Gussiaas, Kostas Alexis
分類: cs.RO
原文アブストラクト
This paper presents a solution for the autonomous exploration and inspection of Ballast Water Tanks (BWTs) of marine vessels using aerial robots. Ballast tank compartments are critical for a vessel's safety and correspond to confined environments often connected through particularly narrow manholes. The method enables their volumetric exploration combined with visual inspection subject to constraints regarding the viewing distance from a surface. We present evaluation studies in simulation, in a mission consisting of 18 BWT compartments, and in 3 field experiments inside real vessels. The data from one of the experiments is also post-processed to generate semantically-segmented meshes of inspection-important geometries. Geometric models can be associated with onboard camera images for detailed and intuitive analysis.
