Semi-autonomous Collision Avoidance Flight Using Two Dimensional Laser Range Finder with Mirrors for Bridge Inspection

Satoko Abiko, Tomohiro Harada, Tadahiro Hasegawa, Shinichi Yuta, Naohiro Shimaji

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper addresses semi-autonomous collision avoidance flight using two dimensional laser range finder with mirrors. One of practical applications of unmanned aerial vehicles (UAV s) can be found in inspection of deteriorated infrastructures such as bridges and tunnels. In such applications, proper environmental recognition and collision avoidance system are of importance because of GPS-denied environment. This paper develops environmental recognition and collision avoidance systems with less computational consumption using two dimensional laser range finder with mirrors. The sensor used in this study is able to scan over horizontal direction and measure vertical direction by changing the laser direction with mirrors. Consequently, the sensor can obtain three dimensional environmental information. In this paper, we describe altitude estimation method under rough ceiling of bridge and obstacle detection system in the flight direction from the point data. The fundamental flight experiments are carried out to demonstrate the validity of the developed system.

Original languageEnglish
Title of host publication2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2267-2272
Number of pages6
ISBN (Electronic)9781728103761
DOIs
Publication statusPublished - 2019 Mar 11
Event2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 - Kuala Lumpur, Malaysia
Duration: 2018 Dec 122018 Dec 15

Publication series

Name2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

Conference

Conference2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
CountryMalaysia
CityKuala Lumpur
Period18/12/1218/12/15

    Fingerprint

Keywords

  • Collision Avoidance
  • Constant Altitude Flight
  • Semiautonomous Flight
  • Two-dimensional Laser Range Finder with Mirrors
  • Unmanned Aerial Vehicle

ASJC Scopus subject areas

  • Biotechnology
  • Artificial Intelligence
  • Human-Computer Interaction

Cite this

Abiko, S., Harada, T., Hasegawa, T., Yuta, S., & Shimaji, N. (2019). Semi-autonomous Collision Avoidance Flight Using Two Dimensional Laser Range Finder with Mirrors for Bridge Inspection. In 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 (pp. 2267-2272). [8664780] (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2018.8664780