Assisted Flight Control for Aerial Contact UAVs in Industrial Environments.

被引:0
|
作者
Casado Fauli, A. M. [1 ]
Ramon Soria, P. [1 ]
Diaz de Espada, C. Martin [1 ]
Trujillo, M. A. [3 ]
Viguria, A. [3 ]
Ollero, A. [2 ]
机构
[1] Vert Engn Solut, Calle Albacora 1, Algeciras 11207, Spain
[2] Univ Seville, GRVC Robot Lab, Ave Descubrimientos S-N, Seville 41092, Spain
[3] FADA CATEC, Calle Wilbur & Orville Wright 19, Seville 41300, Spain
基金
欧盟地平线“2020”;
关键词
D O I
10.1109/AIRPHARO52252.2021.9571048
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper describes the state machine of an autonomous contact UAV for assisted inspection tasks. The UAV is able to control its position using on-board sensors, while the human operator sends the high-level directives. The internal controller of the robot is aware of the state machine status, granting that the control signals that reach the autopilot are smooth, when transitioning between the different control modes. The article summarizes the control modes associated to state machine's states, describes the rules for the smooth transitions, and shows experimental results. Indoor experiments are evaluated with a VICON system, and outdoors experiments show a qualitative representation of those smooth shifts between the states.
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页数:4
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