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UAV payload with collision mitigation for contact inspection
González De Santos, Luis Miguel;
Martínez Sánchez, Joaquín;
González Jorge, Higinio;
Navarro Medina, F.;
Arias Sánchez, Pedro
DATE
:
2020-07
UNESCO SUBJECT
:
1203.25 Diseño de Sistemas Sensores ; 3311.02 Ingeniería de Control
DOCUMENT TYPE
:
article
ABSTRACT
:
This document presents a payload designed to perform semi-autonomous collision-mitigation inspection tasks on
UAVs. This system features no external aid positioning the UAV such as the motion capture systems or the Global
Navigation Satellite System (GNSS), which makes these inspections possible in the GNSS-denied areas. The
payload is composed of two distance measuring units that calculate the range and angle between the UAV and
the structure. The payload controller uses this information to calculate the pitch and yaw signal to control
approach and contact. A hybrid automaton has been implemented, which represents the corresponding UAV
states during the approach and the contact with different control strategies for each one. For this study, an
ultrasonic contact sensor was used as an inspection sensor, but the system can work with any other contact
sensor. This sensor measures the thickness of the metal sheets when is in contact with it. Various tests have been
performed on the system with accurate results, demonstrating that the system can maintain stable contact with ... [+]
This document presents a payload designed to perform semi-autonomous collision-mitigation inspection tasks on
UAVs. This system features no external aid positioning the UAV such as the motion capture systems or the Global
Navigation Satellite System (GNSS), which makes these inspections possible in the GNSS-denied areas. The
payload is composed of two distance measuring units that calculate the range and angle between the UAV and
the structure. The payload controller uses this information to calculate the pitch and yaw signal to control
approach and contact. A hybrid automaton has been implemented, which represents the corresponding UAV
states during the approach and the contact with different control strategies for each one. For this study, an
ultrasonic contact sensor was used as an inspection sensor, but the system can work with any other contact
sensor. This sensor measures the thickness of the metal sheets when is in contact with it. Various tests have been
performed on the system with accurate results, demonstrating that the system can maintain stable contact with a
vertical structure. [-]
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