10.1109/LRA.2019.2928206
https://zenodo.org/records/3466544
oai:zenodo.org:3466544
Jimenez-Cano, Antonio E.
Antonio E.
Jimenez-Cano
Universidad de Sevilla
Pedro J. Sanchez-Cuevas
Pedro J. Sanchez-Cuevas
Universidad de Sevilla
Pedro Grau
Pedro Grau
Universidad de Sevilla
Anibal Ollero
Anibal Ollero
Universidad de Sevilla
Guillermo Heredia
Guillermo Heredia
Universidad de Sevilla
Contact-based Bridge Inspection Multirotors: Design, Modelling and Control Considering the Ceiling Effect
Zenodo
2019
Aerial Systems: Applications; Aerial Systems: Mechanics and Control
2019-07-12
eng
https://zenodo.org/communities/eu
Creative Commons Attribution 4.0 International
This paper presents the design, modelling and control of a multirotor for inspection of bridges with full contact. The paper analyzes the aerodynamic ceiling effect when the aerial robot approaches the bridge surface from below, including its aerodynamic characterization using Computational Fluid Dynamics (CFD). The proposed multirotor design takes the modelled aerodynamic effects into account, improving the performance of the aerial platform in terms of the stability and position accuracy during the inspection. Nonlinear attitude and position controllers to manage the aerodynamic effects are derived and tested. Last, outdoor experiments in a real bridge inspection task have been used to validate the system, as well as the controller and the aerodynamic characterization. The experiments carried out also include a complete autonomous mission of the aerial platform during a structural assessment application.
This work has been supported by the ARTIC Project, funded by the Spanish Ministerio de EconomÃa, Industria, y Competitividad (RTI2018-102224-B-I00)
European Commission
10.13039/501100000780
687384
AErial RObotic System for In-Depth Bridge Inspection by Contact
European Commission
10.13039/501100000780
769066
RESilient transport InfraSTructure to extreme events