Design and Development of a Multi-rotor Unmanned Aerial Vehicle System for Bridge Inspection

To prevent the occurrence of bridge structural failure, regular bridge inspections are required to find the defects of bridges. Traditional detection methods are mainly carried out manually, which are cumbersome and unsafe. The objective of this study is to develop an unmanned aerial vehicle (UAV) for bridge inspection in a fully autonomous manner. In view of the characteristics of the bridge environment and detection principle, a hexarotor frame with an upward camera gimbal is specially designed. Complete control system, sensor system, and image processing system are integrated into the system on the Robot Operation System (ROS). In addition, position estimation and obstacle detection with multi-sensor fusion technique are proposed for obstacle avoidance, human-friendly control flying under the bridge environment without Global Position System (GPS). Compared with traditional bridge inspection method, UAVs will not be limited to space, which will simplify the inspection process, improve the inspection efficiency, guarantee personnel safety, and reduce the incidence of high-risk job accidents.

[1]  Andrea Censi,et al.  An ICP variant using a point-to-line metric , 2008, 2008 IEEE International Conference on Robotics and Automation.

[2]  Nathan E Serrano,et al.  Autonomous quadrotor unmanned aerial vehicle for culvert inspection , 2011 .

[3]  Vijay Kumar,et al.  Autonomous multi-floor indoor navigation with a computationally constrained MAV , 2011, 2011 IEEE International Conference on Robotics and Automation.

[4]  Peter I. Corke,et al.  Multirotor Aerial Vehicles: Modeling, Estimation, and Control of Quadrotor , 2012, IEEE Robotics & Automation Magazine.

[5]  Eun-Jung Song,et al.  An Instrumentation System Applied to Formation Flight , 2002, IEEE Transactions on Control Systems Technology.

[6]  Vijay Kumar,et al.  Opportunities and challenges with autonomous micro aerial vehicles , 2012, Int. J. Robotics Res..

[7]  Richard,et al.  Combining Micro Technologies and Unmanned Systems to Support Public Safety and Homeland Security , 2012 .

[8]  Vijay Kumar,et al.  Multi-sensor fusion for robust autonomous flight in indoor and outdoor environments with a rotorcraft MAV , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[9]  Tarek Hamel,et al.  A UAV for bridge inspection: Visual servoing control law with orientation limits , 2007 .

[10]  Vijay Kumar,et al.  Autonomous indoor 3D exploration with a micro-aerial vehicle , 2012, 2012 IEEE International Conference on Robotics and Automation.

[11]  Xiangyang Zhu,et al.  Modeling and Control of a Quadrotor UAV with Aerodynamic Concepts , 2013 .