10.5281/zenodo.4408239
https://zenodo.org/records/4408239
oai:zenodo.org:4408239
Francisco Bonnin-Pascual
Francisco Bonnin-Pascual
0000-0002-8253-7455
University of the Balearic Islands
Alberto Ortiz
Alberto Ortiz
0000-0002-4215-3764
University of the Balearic Islands
Emilio Garcia-Fidalgo
Emilio Garcia-Fidalgo
0000-0001-8057-5792
University of the Balearic Islands
Joan P. Company-Corcoles
Joan P. Company-Corcoles
University of the Balearic Islands
A reconfigurable framework to turn a MAV into an effective tool for vessel inspection
Zenodo
2019
reconfigurable framework
micro-aerial vehicle
vessel inspection
supervised autonomy
control architecture
sensor fusion
2019-04-01
10.5281/zenodo.4408238
https://zenodo.org/communities/eu
Creative Commons Attribution 4.0 International
Vessels constitute one of the most cost effective ways of transporting goods around the world. Despite the efforts, maritime accidents still occur, with catastrophic consequences. For this reason, vessels are submitted to periodical inspections for the early detection of cracks and corrosion. These inspections are nowadays carried out at a great cost. In order to contribute to make ship inspections safer and more cost-efficiently, this paper presents a novel framework to turn a Micro-Aerial Vehicle (MAV) into a flying camera that can virtually teleport the human surveyor through the different structures of the vessel hull. The system architecture has been developed to be reconfigurable so that it can fit different sensor suites able to supply a proper state estimation, being at the same time compatible with the payload capacity of the aerial platform and the operational conditions. The control software has been designed following the Supervised Autonomy paradigm, so that it is in charge of safety related issues such as collision avoidance, While the surveyor, within the main control loop, is supposed to supply motion commands while he/she is concentrated on the inspection at hand. In this paper, we report on an extensive evaluation of the platform capabilities and usability, both under laboratory conditions and on board a real vessel, during a field inspection campaign.
This is a preprint version of publication with DOI: https://doi.org/10.1016/j.rcim.2018.09.009. This work is partially supported by FEDER funding, by the European Social Fund through Ph.D. scholarship FPI10-43175042V (Conselleria d'Educacio, Cultura i Universitats, Govern de les Illes Balears), by project nr. AAEE50/2015 (Direccio General d'Innovacio i Recerca, Govern de les Illes Balears).
European Commission
10.13039/501100000780
779776
Robotics Technology for Inspection of Ships
European Commission
10.13039/501100000780
605200
Inspection Capabilities for Enhanced Ship Safety