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.


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    Titel :

    Development of a Semi-autonomous Aerial Vehicle for Sewerage Inspection


    Weitere Titelangaben:

    Advs in Intelligent Syst., Computing


    Beteiligte:
    Silva, Manuel F. (Herausgeber:in) / Luís Lima, José (Herausgeber:in) / Reis, Luís Paulo (Herausgeber:in) / Sanfeliu, Alberto (Herausgeber:in) / Tardioli, Danilo (Herausgeber:in) / Castaño, Angél R. (Autor:in) / Romero, Honorio (Autor:in) / Capitán, Jesús (Autor:in) / Andrade, Jose Luis (Autor:in) / Ollero, Aníbal (Autor:in)

    Kongress:

    Iberian Robotics conference ; 2019 ; Porto, Portugal November 20, 2019 - November 22, 2019



    Erscheinungsdatum :

    2019-11-20


    Format / Umfang :

    12 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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