Visual guidance for fixed-wing unmanned aerial vehicles using feature tracking : application to power line inspection

Mills, Steven John (2013) Visual guidance for fixed-wing unmanned aerial vehicles using feature tracking : application to power line inspection. PhD thesis, Queensland University of Technology.


This thesis presents novel vision based control solutions that enable fixed-wing Unmanned Aerial Vehicles to perform tasks of inspection over infrastructure including power lines, pipe lines and roads. This is achieved through the development of techniques that combine visual servoing with alternate manoeuvres that assist the UAV in both following and observing the feature from a downward facing camera. Control designs are developed through techniques of Image Based Visual Servoing to utilise sideslip through Skid-to-Turn and Forward-Slip manoeuvres. This allows the UAV to simultaneously track and collect data over the length of infrastructure, including straight segments and the transition where these meet.

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357 since deposited on 16 Sep 2013
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ID Code: 62558
Item Type: QUT Thesis (PhD)
Supervisor: Mejias Alvarez, Luis & Ford, Jason
Keywords: Locally Linear Infrastructure, Automated Inspection, Fixed Wing Unmanned Aerial Vehicles, Skid-to-Turn Manoeuvres, Forward-Slip Manoeuvres, Feature Tracking, Vision Based Control, Image Based Visual Servoing, Position Based Visual Servoing
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Institution: Queensland University of Technology
Deposited On: 16 Sep 2013 23:55
Last Modified: 05 Sep 2015 09:00

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