2,962 research outputs found
Small unmanned airborne systems to support oil and gas pipeline monitoring and mapping
Acknowledgments We thank Johan Havelaar, Aeryon Labs Inc., AeronVironment Inc. and Aeronautics Inc. for kindly permitting the use of materials in Fig. 1.Peer reviewedPublisher PD
Motion Planning
Motion planning is a fundamental function in robotics and numerous intelligent machines. The global concept of planning involves multiple capabilities, such as path generation, dynamic planning, optimization, tracking, and control. This book has organized different planning topics into three general perspectives that are classified by the type of robotic applications. The chapters are a selection of recent developments in a) planning and tracking methods for unmanned aerial vehicles, b) heuristically based methods for navigation planning and routes optimization, and c) control techniques developed for path planning of autonomous wheeled platforms
Artificial intelligence architecture based on planar LIDAR scan data to detect energy pylon structures in a UAV autonomous detailed inspection process
The technological advances in Unmanned Aerial Vehicles
(UAV) related to energy power structure inspection are gaining visibility
in the past decade, due to the advantages of this technique compared
with traditional inspection methods. In the particular case of power pylon
structure and components, autonomous UAV inspection architectures
are able to increase the efficacy and security of these tasks. This kind
of application presents technical challenges that must be faced to build
real-world solutions, especially the precise positioning and path following
for the UAV during a mission. This paper aims to evaluate a novel architecture
applied to a power line pylon inspection process, based on the
machine learning techniques to process and identify the signal obtained
from a UAV-embedded planar Light Detection and Ranging - LiDAR sensor.
A simulated environment built on the GAZEBO software presents a
first evaluation of the architecture. The results show an positive detection
accuracy level superior to 97% using the vertical scan data and
70% using the horizontal scan data. This accuracy level indicates that
the proposed architecture is proper for the development of positioning
algorithms based on the LiDAR scan data of a power pylon.This work has been supported by FCT - Fundação para a Ciência e Tecnologia within the Project Scope: UIDB/05757/2020. This work has also been supported by Fundação Araucária (grant 34/2019), and by CAPES and UTFPR through stundent scholarships.info:eu-repo/semantics/publishedVersio
Proposal of an augmented reality tag uav positioning system for power line tower inspection
Autonomous inspection Unmanned Aerial Vehicle systems
are an essential research area, including power line distribution inspection.
Considerable efforts to solve the demanding presented in the
autonomous U AV inspection process are present in technical and scientific
research. One of these challenges is the precise positioning and fly
control of the U AV around the energy structures, which is vital to assure
the security of the operation. The most common techniques to achieve
precise positioning in UAV fly are Global Positioning Systems with RealTime
Kinematic. This technique demands a proper satellite signal receiving
to work appropriately, sometimes hard to achieve. The present work
proposes a complementary position data system based on augmented
reality tags (AR Tags) to increase the reliability of the UAV fly positioning
system. The system application is proposed for energy power tower
inspections as an example of use. The adaptation to other inspection
tasks is possible whit some small changes. Experimental results have
shown that an increase in the position accuracy is accomplished with
the use of this schema.info:eu-repo/semantics/publishedVersio
Cooperative UAV–UGV autonomous power pylon inspection: an investigation of cooperative outdoor vehicle positioning architecture
Realizing autonomous inspection, such as that of power distribution lines, through unmanned
aerial vehicle (UAV) systems is a key research domain in robotics. In particular, the use of autonomous
and semi-autonomous vehicles to execute the tasks of an inspection process can enhance the efficacy
and safety of the operation; however, many technical problems, such as those pertaining to the precise
positioning and path following of the vehicles, robust obstacle detection, and intelligent control, must be
addressed. In this study, an innovative architecture involving an unmanned aircraft vehicle (UAV) and an
unmanned ground vehicle (UGV) was examined for detailed inspections of power lines. In the proposed
strategy, each vehicle provides its position information to the other, which ensures a safe inspection
process. The results of real-world experiments indicate a satisfactory performance, thereby demonstrating
the feasibility of the proposed approach.This research was funded by National Counsel of Technological and Scientific Development of Brazil (CNPq).
The authors thank the National Counsel of Technological and Scientific Development of Brazil
(CNPq); Coordination for the Improvement of Higher Level People (CAPES); and the Brazilian Ministry of Science,
Technology, Innovation, and Communication (MCTIC). The authors would also like express their deepest gratitude
to Control Robotics for sharing the Pioneer P3 robot for the experiments. Thanks to Leticia Cantieri for editing the
experiment video.info:eu-repo/semantics/publishedVersio
- …