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首页> 外文期刊>Journal of robotics and mechatronics >Paper: Autonomous Adaptive Flight Control of a UAV for Practical Bridge Inspection Using Multiple-Camera Image Coupling Method
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Paper: Autonomous Adaptive Flight Control of a UAV for Practical Bridge Inspection Using Multiple-Camera Image Coupling Method

机译：纸质：使用多相机图像耦合法进行实用桥式检查的无人机自动自适应飞行控制

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摘要

Recently, with the deterioration of bridge facilities, demand has arisen for a method to inspect many bridges efficiently. One proposed bridge inspection method involves observation and inspection of cracks on undersides of bridges using a video camera mounted on an unmanned aerial vehicle (UAV) that flies under the bridges. There is an option to have a pilot operate the UAV, but it is desirable to have the UAV fly autonomously when efficiency of inspection is considered. Though there is a method using GPS for autonomous flight control of UAVs, there are many cases in which GPS cannot be utilized under bridges, and a new method is required for autonomous flight control in such places. The authors have already shown that autonomous flight control of UAVs can be achieved within the range of a monocular camera image by measuring the position of a UAV using camera images. However, since the flight range is bounded by the monocular camera image, it is necessary to move the camera position to fly the UAV autonomously in a wider space. In this paper, it is shown that a UAV can achieve autonomous flight control in wider spaces by constructing a single coordinate system for a combination of two camera images. In addition, considering that various measuring instruments might be mounted on a UAV, an adaptive control method capable of obtaining good control performance without changing the design parameters of the controllers should be applied. This method is useful for maintaining control performance when the total weight of the UAV changes. To show the effectiveness of our proposed method, we give an appropriate practical flight target orbit and present its experimental results.
机译：最近，随着桥梁设施的恶化，需要有效地检查许多桥梁的方法。一种提出的桥梁检查方法涉及使用安装在桥下的无人驾驶飞行器（UAV）上的视频摄像机对桥梁下侧的裂缝观察和检查。有一个选项有一个试点操作UAV，但是当考虑检查效率时，希望让UAV自动飞行。虽然有一种使用GPS进行无人机的自主飞行控制的方法，但是存在许多情况下，在桥梁下不能使用GPS，并且在这些地方的自主飞行控制需要新方法。作者已经表明，通过使用相机图像测量UAV的位置，可以在单眼相机图像的范围内实现无人机的自主飞行控制。然而，由于飞行范围由单眼相机图像界定，因此必须移动相机位置以自主地在更宽的空间中自主地飞行。在本文中，示出了通过构造用于两个相机图像的组合的单个坐标系，可以通过构造单个坐标系来实现更宽的空间中的自主飞行控制。此外，考虑到各种测量仪器可以安装在UAV上，应该应用能够获得良好控制性能而不改变控制器的设计参数的自适应控制方法。当UAV变化的总重量时，该方法可用于保持控制性能。为了表明我们提出的方法的有效性，我们提供了适当的实际飞行目标轨道，并提出了其实验结果。

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