This paper describes the design, development and field tests of an aerial vehicle for semi-autonomous inspection of sewer pipes. This vehicle is able to localize and align itself with respect to the longitudinal axis of the pipe, and to keep a predefined height over the water. The human operator only needs to send high-level commands to move the vehicle forward or backward along the pipe, and this navigation is then done safely in an autonomous manner. We tested our system in a realistic mock-up scenario provided by a city water management company. Our field tests show that the platform is operational and fulfill the requirements for sewer inspections.
Development of a Semi-autonomous Aerial Vehicle for Sewerage Inspection
Advs in Intelligent Syst., Computing
Iberian Robotics conference ; 2019 ; Porto, Portugal November 20, 2019 - November 22, 2019
2019-11-20
12 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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