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Fully-Actuated Aerial Manipulator for Infrastructure Contact Inspection: Design, Modeling, Localization, and Control.

Pedro J Sanchez-Cuevas¹, Antonio Gonzalez-Morgado¹, Nicolas Cortes¹

¹Robotics, Vision and Control Group, Universidad de Sevilla, Camino de los Descubrimientos s.n., 41092 Sevilla, Spain.

Sensors (Basel, Switzerland)

|August 23, 2020

Summary

This study introduces a novel aerial robot for infrastructure inspection, featuring a force-sensing arm and a robust localization system for GPS-denied environments. The robot enables precise contact-based health assessments of bridges and tunnels.

Keywords:

aerial systems applications, inspection robotics, bridge inspection with UAS

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Area of Science:

Robotics
Structural Health Monitoring
Control Systems Engineering

Background:

Infrastructure health assessment requires precise sensor measurements on surfaces.
Existing methods face challenges with accessibility and measurement accuracy due to platform motion.
Aerial robots offer a potential solution for remote and detailed inspection.

Purpose of the Study:

To design, model, and control a fully actuated aerial robot for infrastructure contact inspection.
To develop a robust multi-sensor fusion localization system for GPS-denied environments.
To validate the robot's control, localization, and inspection capabilities on a real bridge.

Main Methods:

Design of a 3DoF lightweight arm with a force-sensing passive joint for controlled contact.
Development of a fully actuated aerial platform with tilted propellers for independent attitude and position control.
Implementation of a multi-sensor fusion localization system using ground-based laser, onboard camera, and inertial sensors.
Integration of a "docking gear" for stable infrastructure contact during inspection.

Main Results:

Successful design and modeling of the aerial robot with independent attitude and position control.
Validation of the multi-sensor fusion localization system in environments with poor GNSS availability.
Demonstration of the aerial robot's capability for contact inspection on a real bridge, showing stable force control and accurate localization.
Minimized measurement errors through stable contact enabled by the docking gear.

Conclusions:

The developed aerial robot is suitable for precise infrastructure contact inspection, even in challenging environments.
The integrated localization system effectively overcomes GNSS limitations for aerial navigation.
The system advances the field of structural health monitoring through automated, contact-based inspection capabilities.