Nuclear Environments Inspection with Micro Aerial Vehicles: Algorithms and Experiments
Nuclear Environments Inspection with Micro Aerial Vehicles: Algorithms and Experiments
复制标题
使用微型飞行器进行核环境检查：算法和实验
DOI：
10.1007/978-3-030-33950-0_17
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发表时间：
2018
影响因子：
4.6
通讯作者：
Vijay R. Kumar
中科院分区：
文献类型：
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作者：
Dinesh Thakur;Giuseppe Loianno;Wenxin Liu;Vijay R. Kumar
在这项工作中，我们解决了估计、规划、控制和绘图问题，以允许小型四旋翼飞行器自主检查危险受损核场所的内部。这些算法在计算能力有限的CPU上运行。我们研究了不同照度对系统性能的影响。据我们所知，这是第一个用于检查主安全壳（PCV）全尺寸模型内部的完全自主系统。拟议的解决办法开辟了检查核反应堆和支持核退役的新途径，众所周知，核退役是一个危险、漫长和繁琐的过程。不同光照条件下的实验结果表明，该系统能够导航全尺寸模型PCV基座，并创建环境地图，同时避开障碍物。
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.