Autonomous and scalable control for remote inspection with multiple aerial vehicles
Autonomous and scalable control for remote inspection with multiple aerial vehicles
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DOI：
10.1016/j.robot.2016.10.012
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发表时间：
2017-01-01
影响因子：
4.3
通讯作者：
Macdonald, Malcolm
中科院分区：
文献类型：
--
作者：
Clark, Ruaridh A.;Punzo, Giuliano;Macdonald, Malcolm
提出了一种新的方法来自主生成多个飞行器的轨迹，从而人工运动场提供了分布式和高度可扩展的方式自主控制。运动学场相对于中心目标生成，并且当车辆非常接近另一车辆时被修改以避免碰撞。然后将该控制方案应用于核中水平废物贮存桶的模拟目视检查。在实验室环境中，使用两个市售的四轴飞行器完成检查，其中所获取的视觉检查数据被处理并且被摄影测量地网格化以生成滚筒的三维表面网格化模型。本文有助于多智能体覆盖路径规划领域的结构检测，并提供了实验验证的控制和检测结果。(C)2016爱思唯尔B.V.保留所有权利。
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. (C) 2016 Elsevier B.V. All rights reserved.