UAV Inspection of Large Components: Indoor Navigation Relative to Structures

Martin Schörner, Michelle Bettendorf, Constantin Wanninger, Alwin Hoffmann, Wolfgang Reif

2021

Abstract

The inspection of large structures is increasingly carried out with the help of Unmanned Aerial Vehicles (UAVs). When navigating relative to the structure, multiple data sources can be used to determine the position of the UAV. Examples include track data from an installed camera and sensor data from the orientation sensors of the UAV. This paper deals with the fusion of this data and its use for navigation alongside the structure. For the sensor fusion, a concept is developed using a Kalman filter and evaluated simulatively in a prototype. The calculated position data are also fed into a vector flight control system, which dynamically calculates and flies a trajectory along the component using the potential field method. This is done taking into account obstacles detected by the onboard sensors of the UAV. The established concept is then implemented with the Robot Operating System (ROS) and evaluated simulatively.

Paper Citation

in Harvard Style

Schörner M., Bettendorf M., Wanninger C., Hoffmann A. and Reif W. (2021). UAV Inspection of Large Components: Indoor Navigation Relative to Structures. In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-522-7, pages 179-186. DOI: 10.5220/0010556301790186

in Bibtex Style

@conference{icinco21,
author={Martin Schörner and Michelle Bettendorf and Constantin Wanninger and Alwin Hoffmann and Wolfgang Reif},
title={UAV Inspection of Large Components: Indoor Navigation Relative to Structures},
booktitle={Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2021},
pages={179-186},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010556301790186},
isbn={978-989-758-522-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - UAV Inspection of Large Components: Indoor Navigation Relative to Structures
SN - 978-989-758-522-7
AU - Schörner M.
AU - Bettendorf M.
AU - Wanninger C.
AU - Hoffmann A.
AU - Reif W.
PY - 2021
SP - 179
EP - 186
DO - 10.5220/0010556301790186