무인 구조물 검사를 위한 자율 비행 시스템Autonomous Navigation System of an Unmanned Aerial Vehicle for Structural Inspection

Cited 0 time in webofscience Cited 0 time in scopus
  • Hit : 134
  • Download : 0
Recently, various robots are being used for the purpose of structural inspection or safety diagnosis, and their needs are also rising rapidly. Among the structural inspection using robots, a lot of researches has recently been conducted on inspection of various facilities and structures using an unmanned aerial vehicle (UAV). However, since GNSS (Global Navigation Satellite System) signals cannot be received in an environment near or below structures, the operation of UAVs has been done manually. For a stable autonomous flight without GNSS signals, additional technologies are required. This paper proposes the autonomous flight system for structural inspection consisting of simultaneous localization and mapping (SLAM), path planning, and controls. The experiments were conducted on an actual large bridge to verify the feasibility of the system, and especially the performance of the proposed SLAM algorithm was compared through comparative analysis with the state-of-the-art algorithms.
Publisher
한국로봇학회
Issue Date
2021-10
Language
Korean
Citation

로봇학회 논문지, v.16, no.3, pp.216 - 222

ISSN
1975-6291
DOI
10.7746/jkros.2021.16.3.216
URI
http://hdl.handle.net/10203/290507
Appears in Collection
EE-Journal Papers(저널논문)
Files in This Item
There are no files associated with this item.

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0