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Title: | INSPECTION OF HUMAN INACCESSIBLE TUNNEL USING UNMANNED AERIAL VEHICLE | Authors: | TIAN HONGYU | Keywords: | UAV, navigation, state estimation, path planning, tunnel inspection | Issue Date: | 25-Jan-2018 | Citation: | TIAN HONGYU (2018-01-25). INSPECTION OF HUMAN INACCESSIBLE TUNNEL USING UNMANNED AERIAL VEHICLE. ScholarBank@NUS Repository. | Abstract: | This work is an attempt to address the problem of autonomous navigation and collection of visual inspection data inside hydraulic tunnels. The application environment is hazardous, dark, long and confined, making human access impossible. Furthermore, variation in water and sediment level, in different sections of the tunnel, prohibits mobility of land or surface robotic platforms, making unmanned aerial vehicle the desired option. As the shape of the tunnel is singular to laser scanner, stereo vision is used as the main navigation sensor to overcome the absence of GPS signal. Autonomous navigation is achieved through scene perception, path planning, a two-layered control structure and measurement from stereo vision and IMU fusion. The proposed solution is realized onboard a fully customized platform and tested in realistic application environment. | URI: | http://scholarbank.nus.edu.sg/handle/10635/142767 |
Appears in Collections: | Master's Theses (Open) |
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