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

研究成果: Conference contribution

1 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトル2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
出版者Institute of Electrical and Electronics Engineers Inc.
ページ2267-2272
ページ数6
ISBN(電子版)9781728103761
DOI
出版物ステータスPublished - 2019 3 11
イベント2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 - Kuala Lumpur, Malaysia
継続期間: 2018 12 122018 12 15

出版物シリーズ

名前2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

Conference

Conference2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
Malaysia
Kuala Lumpur
期間18/12/1218/12/15

ASJC Scopus subject areas

  • Biotechnology
  • Artificial Intelligence
  • Human-Computer Interaction

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  • これを引用

    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. : 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