Bipartite Guidance, Navigation and Control Architecture for Autonomous Aerial Inspections Under Safety Constraints

In this work the autonomous flight of a drone for inspection of sensitive environments is considered. Continuous monitoring, the possibility of override and the minimisation of the on-board computational load are prioritised. The drone is programmed with a Lyapunov vector guidance and nonlinear cont...

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Bibliographic Details
Published in:Journal of intelligent & robotic systems 2019-09, Vol.95 (3-4), p.1049-1061
Main Authors: Punzo, Giuliano, MacLeod, Charles, Baumanis, Kristaps, Summan, Rahul, Dobie, Gordon, Pierce, Gareth, Macdonald, Malcolm
Format: Article
Language:English
Subjects:
Artificial Intelligence
Autonomous navigation
Computation
Control
Electrical Engineering
Engineering
Global positioning systems
GPS
Ground stations
Inspection
Mechanical Engineering
Mechatronics
Navigation
Nonlinear control
Robotics
Satellite navigation systems
Software
Structural health monitoring
Trajectory control
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Summary:In this work the autonomous flight of a drone for inspection of sensitive environments is considered. Continuous monitoring, the possibility of override and the minimisation of the on-board computational load are prioritised. The drone is programmed with a Lyapunov vector guidance and nonlinear control to fly a trajectory passed, leg after leg, by a remote ground station. GPS is the main navigation tool used. Computational duties are split between the ground station and the drone’s on board computer, with the latter dealing with the most time critical tasks. This bipartite autonomous system marries recent advancements in autonomous flight with the need for safe and reliable robotic systems to be used for tasks such as inspection or structural health monitoring in industrial environments. A test case and inspection data from a test over flat lead roof structure are presented.
ISSN:0921-0296
1573-0409
DOI:10.1007/s10846-018-0780-1