Control of hovering altitude of a quadrotor with shifted centre of gravity for inspection of high-rise structures

Alexej Bulgakov, Sergey Emelianov, Thomas Bock, Daher Sayfeddine

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

13 Scopus citations

Abstract

Unmanned aerial vehicles are specialized robots. Recently they were used in many civil applications such as patrolling, firefighting, rescuing tasks and being the shadow cinematographer in many movie-making companies. The new developments in material technology led to new sophisticated, miniature range of sensors and actuators, which are able to substitute gyroscopes and accelerometers. In light of this, new miniature aerial vehicles appeared in the market. Micro-UAV (MUAV) is able to infiltrate sites, where the bigger aerial robots could not. It is more maneuverable and recently is becoming able to fly to new altitudes. This allow the MUAV to be used for site scanning, to perform or assist in photogrammetry procedures in light to create 3D building models and maps. The future of the MUAV seems to be existing: In relation to medical field, the aerial robot is being used to perform radiation leakage test that, is done manually in most of the hospitals. It is also planned to be used to deliver lightweight goods within the city. The versatility and adaptability of the miniature aerial robot creates new requirements for stability, maneuverability and speed. In this paper, we offer to study the quadrotor while inspecting high-rise structures using simulations. As the quadrotor is vertical take-off and landing vehicle, it is very important to analyze the effect of the altitude on the stability of in order to create control algorithm able to maintain the necessary hovering position of the quadrotor. A better stabilization leads to better scanning results and high quality captured images.

Original languageEnglish
Title of host publication31st International Symposium on Automation and Robotics in Construction and Mining, ISARC 2014 - Proceedings
EditorsQuang Ha, Xuesong Shen, Ali Akbarnezhad
PublisherUniversity of Technology Sydney
Pages762-767
Number of pages6
ISBN (Electronic)9780646597119
DOIs
StatePublished - 2014
Externally publishedYes
Event31st International Symposium on Automation and Robotics in Construction and Mining, ISARC 2014 - Sydney, Australia
Duration: 9 Jul 201411 Jul 2014

Publication series

Name31st International Symposium on Automation and Robotics in Construction and Mining, ISARC 2014 - Proceedings

Conference

Conference31st International Symposium on Automation and Robotics in Construction and Mining, ISARC 2014
Country/TerritoryAustralia
CitySydney
Period9/07/1411/07/14

Keywords

  • Inspecting structures
  • Optimized control system
  • Quadrotor
  • Simulation

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