로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제16권3호
  • /
  • Pages.216-222
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  • 2021
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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무인 구조물 검사를 위한 자율 비행 시스템

Autonomous Navigation System of an Unmanned Aerial Vehicle for Structural Inspection

  • 투고 : 2021.05.12
  • 심사 : 2021.06.18
  • 발행 : 2021.08.31
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초록

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.

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과제정보

This work was supported by the Korea Agency for Infrastructure Technology Advancement (KAIA) grant funded by the Ministry of Science and ICT/Ministry of Trade, Industry and Energy/Ministry of Land, Infrastructure and Transport (Grant 21DPIW-C153691-03). The student were partially supported by BK21 FOUR and Korea Ministry of Land, Infrastructure and Transport (MOLIT) as 'Innovative Talent Education Program for Smart City'

참고문헌

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