Sistema de supervisão aérea baseado em navegação visual para detecção de anomalias em instalações de petróleo e gás
This work deals with the development of a prototype of a helicopter quadrotor for monitoring applications in oil facilities. Anomaly detection problems can be resolved through monitoringmissions performed by a suitably instrumented quadrotor, i.e. infrared thermosensors should be embedded. The propo...
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| Formato: | doctoralThesis |
| Idioma: | por |
| Publicado em: |
Universidade Federal do Rio Grande do Norte
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| Endereço do item: | https://repositorio.ufrn.br/jspui/handle/123456789/15214 |
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| Resumo: | This work deals with the development of a prototype of a helicopter quadrotor for monitoring
applications in oil facilities. Anomaly detection problems can be resolved through
monitoringmissions performed by a suitably instrumented quadrotor, i.e. infrared thermosensors
should be embedded. The proposed monitoring system aims to reduce accidents
as well as to make possible the use of non-destructive techniques for detection and location
of leaks caused by corrosion. To this end, the implementation of a prototype, its
stabilization and a navigation strategy have been proposed.
The control strategy is based on dividing the problem into two control hierarchical
levels: the lower level stabilizes the angles and the altitude of the vehicle at the desired
values, while the higher one provide appropriate references signals to the lower level in
order the quadrotor performs the desired movements.
The navigation strategy for helicopter quadrotor is made using information provided
by a acquisition image system (monocular camera) embedded onto the helicopter. Considering
that the low-level control has been solved, the proposed vision-based navigation
technique treats the problem as high level control strategies, such as, relative position
control, trajectory generation and trajectory tracking.
For the position control we use a control technique for visual servoing based on image
features. The trajectory generation is done in a offline step, which is a visual trajectory
composed of a sequence of images. For the trajectory tracking problem is proposed a
control strategy by continuous servovision, thus enabling a navigation strategy without
metric maps. Simulation and experimental results are presented to validate the proposal |
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