A Micro Aerial Vehicle for Vessel Visual Inspection Assistance

Authors Alberto Ortiz Rodriguez | Emilio García Fidalgo | Francisco Bonnín Pascual
In Proceedings of XI International Conference on Computer and IT Applications in the Maritime Industries (COMPIT), Liège (Belgium), pp. 146-159, 2012.
ISBN 978-3-89220-660-6

Vessel maintenance entails periodic visual inspections of internal and external parts of the hull in order to detect the typical defective situations affecting metallic structures, such as cracks, coating breakdown, corrosion, etc. The main goal of the EU-FP7 project MINOAS is the automation of the inspection process, currently undertaken by human surveyors, by means of a fleet of robotic agents. This paper overviews a Micro Aerial Vehicle (MAV) to be used as part of this fleet, and describes the control software approach that has been adopted, with special emphasis on self-localization and obstacle avoidance. Experimental results in this regard are included and discussed at the end of the paper.


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