09 Nov Inspection of Pole-Like Structures Using a Vision-Controlled VTOL UAV and Shared Autonomy
We present an approach for the inspection of vertical pole-like infrastructure using a vertical take-off and landing (VTOL) unmanned aerial vehicle and shared autonomy. Inspecting vertical structures, such as light and power distribution poles, is a time consuming, dangerous and expensive task with high operator workload. To address these issues, we propose a VTOL platform that can operate at close-quarters, whilst maintaining a safe stand-off distance and rejecting environmental disturbances. We adopt an Image based Visual Servoing (IBVS) technique using only two line features to stabilise the vehicle with respect to a pole. Visual, inertial and sonar data are used, making the approach suitable for indoor or GPS-denied environments. Results from simulation and outdoor flight experiments demonstrate the system is able to successfully inspect and circumnavigate a pole.
Sa, S. Hrabar, and P. Corke, “Inspection of pole-like structures using a vision-controlled VTOL UAV and shared autonomy,” in Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference pp. 4819–4826, Sept 2014.