The main purpose of this document is to present the beta version of the algorithms developed for aerial inspection robots concerning GNSS-free navigation and aerial contact control. This deliverable is the direct outcome of the work performed within tasks T5.1 (“GNSS-free localization and navigation for aerial systems”) and T5.3 (“Aerial interaction control”) during their first period. The envisioned scenarios for the PILOTING use cases present big challenges for the inspection and maintenance operations with aerial robots. High altitude, unstructured environments, low lighting, and lack of GNSS are just some of them. To cope with these issues, the proposed I&M Platform includes a set of autonomous functionalities which will help to safely accomplish the operations with aerial robots. As defined in previous deliverables of this project, the autonomous functionalities for aerial robots can be summarized in five points: • Autonomous take-off. • Autonomous landing. • Autonomous control while contacting the surface. • Autonomous navigation in GNSS-denied environment. • Autonomous obstacle detection and avoidance. The first three functionalities are part of task T5.3 “Aerial interaction control”. The autonomous take-off and landing might seem straightforward functionalities, but one should consider the challenging conditions in which those functionalities will take place. The autonomous control while contacting the surface functionality is crucial, as it allows the aerial robots to perform the advance inspection they are designed for. On the other hand, the autonomous navigation and obstacle detection and avoidance functionalities fall in the scope of task T5.1 “GNSS-free localization and navigation for aerial systems”. These functionalities allow the aerial robots to safely navigate the environment to reach the desired inspection locations.
Beta version of advanced autonomous functionalities for aerial robots
30.06.2021
oai:zenodo.org:5044946
Paper
Elektronische Ressource
Englisch
DDC: | 629 |