Final version of advanced autonomous functionalities for aerial robots
PILOTING project · Zenodo (CERN European Organization for Nuclear Research) · 2023
This document aims to introduce the final version of algorithms developed for aerial inspection robots that deal with GNSS-free navigation and aerial contact control. This deliverable is a result of the work carried out in tasks T5.1 and T5.3. PILOTING use-cases involve multiple challenges for inspection and maintenance operations using aerial robots, including physical interaction with the environment, drone aerodynamic interactions with nearby surfaces, lack of GNSS signals, unstructured environments, irregular lighting conditions, among others. To overcome these challenges, the proposed I&M Platform features autonomous functionalities that enable aerial robots safely and autonomously complete contact and non-contact inspection missions. The autonomous functionalities for aerial robots are classified into two sets of categories: autonomous control while contacting the surface including autonomous take-off and landing, and autonomous safe navigation in GNSS-denied environments. The autonomous control while contacting the surface is essential as it allows aerial robots to perform advanced physical-contact inspections. These functionalities were developed in task T5.3. The autonomous navigation functionalities enable aerial robots to navigate environments safely and reach desired inspection locations in complex, highly cluttered, unstructured environments. These functionalities were developed in T5.1.