In this work, we address the design, estimation, planning, control, and mapping problems to allow a small scale quadrotor to autonomously inspect the interior of a Containment Vessel (CV) test fixture, using on-board lighting, computation and sensing. We demonstrate a fully autonomous, 160 cm tip-to-tip, 236 gram Micro Aerial Vehicle (MAV) performing a complex flight mission inside of a dark test fixture that was built from a scale model of a CV. The proposed solution opens up new ways to inspect nuclear power plants and has the potential to support nuclear decommissioning, which is well known to be a dangerous, long, and tedious process. Experimental results show the ability to navigate under dripping water conditions and inside a completely dark, full-scale CV test fixture while concurrently avoiding known and unknown obstacles.
Autonomous Inspection of a Containment Vessel using a Micro Aerial Vehicle / Thakur, D.; Loianno, G.; Jarin-Lipschitz, L.; Zhou, A.; Kumar, V.. - (2019), pp. 196-202. (Intervento presentato al convegno 2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019 tenutosi a deu nel 2019) [10.1109/SSRR.2019.8848936].
Autonomous Inspection of a Containment Vessel using a Micro Aerial Vehicle
Loianno G.;
2019
Abstract
In this work, we address the design, estimation, planning, control, and mapping problems to allow a small scale quadrotor to autonomously inspect the interior of a Containment Vessel (CV) test fixture, using on-board lighting, computation and sensing. We demonstrate a fully autonomous, 160 cm tip-to-tip, 236 gram Micro Aerial Vehicle (MAV) performing a complex flight mission inside of a dark test fixture that was built from a scale model of a CV. The proposed solution opens up new ways to inspect nuclear power plants and has the potential to support nuclear decommissioning, which is well known to be a dangerous, long, and tedious process. Experimental results show the ability to navigate under dripping water conditions and inside a completely dark, full-scale CV test fixture while concurrently avoiding known and unknown obstacles.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.