Bipartite guidance, navigation and control architecture for autonomous aerial inspections under safety constraints

Punzo, Giuliano and MacLeod, Charles and Baumanis, Kristaps and Summan, Rahul and Dobie, Gordon and Pierce, Stephen and Macdonald, Malcolm (2018) Bipartite guidance, navigation and control architecture for autonomous aerial inspections under safety constraints. Journal of Intelligent and Robotic Systems. ISSN 0921-0296 (In Press)

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Abstract

In this work the autonomous flight of a drone for inspection of sensitive environments is considered. Continuous monitoring, the possibility of override and the minimisation of the on-board computational load are prioritized. The drone is programmed with a Lyapunov vector guidance and nonlinear control to fly a trajectory passed, leg after leg, by a remote ground station. GPS is the main navigation tool used. Computational duties are split between the ground station and the drone’s on board computer, with the latter dealing with the most time critical tasks. This bipartite autonomous system marries recent advancements in autonomous flight with the need for safe and reliable robotic systems to be used for tasks such as inspection or structural health monitoring in industrial environments. A test case and inspection data from a test over flat lead roof structure are presented.

ORCID iDs

MacLeod, Charles ORCID: https://orcid.org/0000-0003-4364-9769

Baumanis, Kristaps ORCID: https://orcid.org/0000-0001-6955-1183

Summan, Rahul ORCID: https://orcid.org/0000-0002-4090-4528

Dobie, Gordon ORCID: https://orcid.org/0000-0003-3972-5917

Pierce, Stephen ORCID: https://orcid.org/0000-0003-0312-8766

Macdonald, Malcolm ORCID: https://orcid.org/0000-0003-4499-4281

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• Item metadata

  Item type:	Article
  ID code:	63310
  Dates:	Date Event 19 January 2018 Published 19 January 2018 Accepted
  Keywords:	UAV, bipartite architecture, Lyapunov vector field, industrial applications, autonomous aerial inspection, roofs, Electrical Engineering. Electronics Nuclear Engineering, Artificial Intelligence, Mechanical Engineering, Software, Industrial and Manufacturing Engineering, Control and Systems Engineering, Electrical and Electronic Engineering
  Subjects:	Technology > Electrical engineering. Electronics Nuclear engineering
  Department:	Faculty of Engineering > Mechanical and Aerospace Engineering Faculty of Engineering > Electronic and Electrical Engineering Strategic Research Themes > Advanced Manufacturing and Materials
  Depositing user:	Pure Administrator
  Date deposited:	15 Feb 2018 11:09
  Last modified:	25 Nov 2023 02:35
  Related URLs:	Journal or Publication
  URI:	https://strathprints.strath.ac.uk/id/eprint/63310