Planning and control of an autonomous hovering airborne dedicated for the monitoring of structures

Abstract : Today, the inspection of structures is carried out through visual assessments effected by qualified inspectors. This procedure is very expensive and can put the personal in dangerous situations. Consequently, the development of an unmanned aerial vehicle equipped with on-board vision systems is privileged nowadays in order to facilitate the access to unreachable zones. In this context, the main focus in the thesis is developing original methods to deal with planning, reference trajectories generation and tracking issues by a hovering airborne platform. These methods should allow an automation of the flight in the presence of air disturbances and obstacles. Within this framework, we are interested in two kinds of aerial vehicles with hovering capacity: airship and quad-rotors.
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  • HAL Id : tel-01147160, version 1

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Elie Kahale. Planning and control of an autonomous hovering airborne dedicated for the monitoring of structures. Automatic. Université d'Evry Val d'Essonne, 2014. English. ⟨tel-01147160⟩

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