Shared autonomy for close-quarters navigation and control of a VTOL platform

Sa, Inkyu (2014) Shared autonomy for close-quarters navigation and control of a VTOL platform. PhD by Publication, Queensland University of Technology.


This thesis presents an approach for a vertical infrastructure inspection using a vertical take-off and landing (VTOL) unmanned aerial vehicle and shared autonomy. Inspecting vertical structure such as light and power distribution poles is a difficult task. There are challenges involved with developing such an inspection system, such as flying in close proximity to a target while maintaining a fixed stand-off distance from it.

The contributions of this thesis fall into three main areas. Firstly, an approach to vehicle dynamic modeling is evaluated in simulation and experiments. Secondly, EKF-based state estimators are demonstrated, as well as estimator-free approaches such as image based visual servoing (IBVS) validated with motion capture ground truth data. Thirdly, an integrated pole inspection system comprising a VTOL platform with human-in-the-loop control, (shared autonomy) is demonstrated. These contributions are comprehensively explained through a series of published papers.

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ID Code: 77431
Item Type: QUT Thesis (PhD by Publication)
Supervisor: Corke, Peter & Wyeth, Gordon
Keywords: Quadrotor, Image based Visual Servoing, State estimation, Shared autonomy, Inspection, Robot vision, Control, Position based Visual Servoing, Extended Kalman Filter, System identification
Divisions: Current > QUT Faculties and Divisions > Science & Engineering Faculty
Institution: Queensland University of Technology
Deposited On: 03 Nov 2014 06:36
Last Modified: 21 Jun 2017 14:50

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