Evaluation of a Skill-based Control Architecture for a Visual Inspection-oriented Aerial Platform
| Autor: | Joan P. Company-Corcoles, Emilio Garcia-Fidalgo, Francisco Bonnin-Pascual, Alberto Ortiz |
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| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: |
FOS: Computer and information sciences
0209 industrial biotechnology micro-aerial vehicle Computer science 010401 analytical chemistry Control (management) Context (language use) vessel inspection 02 engineering and technology Sensor fusion 01 natural sciences 0104 chemical sciences Task (project management) Set (abstract data type) Visual inspection Computer Science - Robotics 020901 industrial engineering & automation Systems engineering Architecture Robotics (cs.RO) |
| Zdroj: | ETFA Publons 2020 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) |
| Popis: | The periodic inspection of vessels is a fundamental task to ensure their integrity and avoid maritime accidents. Currently, these inspections represent a high cost for the ship owner, in addition to the danger that this kind of hostile environment entails for the surveyors. In these situations, robotic platforms turn out to be useful not only for safety reasons, but also to reduce vessel downtimes and simplify the inspection procedures. Under this context, in this paper we report on the evaluation of a new control architecture devised to drive an aerial platform during these inspection procedures. The control architecture, based on an extensive use of behaviour-based high-level control, implements visual inspection-oriented functionalities, while releases the operator from the complexities of inspection flights and ensures the integrity of the platform. Apart from the control software, the full system comprises a multi-rotor platform equipped with a suitable set of sensors to permit teleporting the surveyor to the areas that need inspection. The paper provides an extensive set of testing results in different scenarios, under different operational conditions and over real vessels, in order to demonstrate the suitability of the platform for this kind of tasks. This is a preprint version of a publication with DOI: https://doi.org/10.1109/ETFA46521.2020.9212103. This work is also supported by project PGC2018-095709-B-C21 (MCIU/AEI/FEDER, UE), and PROCOE/4/2017 (Govern Balear, 50% P.O. FEDER 2014-2020 Illes Balears). |
| Databáze: | OpenAIRE |
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