Visual guidance for fixed-wing unmanned aerial vehicles using feature tracking : application to power line inspection
Data(s) |
2013
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Resumo |
This thesis presents novel vision based control solutions that enable fixed-wing Unmanned Aerial Vehicles to perform tasks of inspection over infrastructure including power lines, pipe lines and roads. This is achieved through the development of techniques that combine visual servoing with alternate manoeuvres that assist the UAV in both following and observing the feature from a downward facing camera. Control designs are developed through techniques of Image Based Visual Servoing to utilise sideslip through Skid-to-Turn and Forward-Slip manoeuvres. This allows the UAV to simultaneously track and collect data over the length of infrastructure, including straight segments and the transition where these meet. |
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application/pdf |
Identificador | |
Publicador |
Queensland University of Technology |
Relação |
http://eprints.qut.edu.au/62558/4/62558%28updated_version%29.pdf Mills, Steven John (2013) Visual guidance for fixed-wing unmanned aerial vehicles using feature tracking : application to power line inspection. PhD thesis, Queensland University of Technology. |
Fonte |
School of Electrical Engineering & Computer Science; Science & Engineering Faculty |
Palavras-Chave | #Locally Linear Infrastructure #Automated Inspection #Fixed Wing Unmanned Aerial Vehicles #Skid-to-Turn Manoeuvres #Forward-Slip Manoeuvres #Feature Tracking #Vision Based Control #Image Based Visual Servoing #Position Based Visual Servoing |
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Thesis |