지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2021.9
- 수록면
- 216 - 222 (7page)
- DOI
- 10.7746/jkros.2021.16.3.216
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초록· 키워드
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Recently, various robots are being used for the purpose of structural inspection or safety diagnosis, and their needs are also rising rapidly. Among the structural inspection using robots, a lot of researches has recently been conducted on inspection of various facilities and structures using an unmanned aerial vehicle (UAV). However, since GNSS (Global Navigation Satellite System) signals cannot be received in an environment near or below structures, the operation of UAVs has been done manually. For a stable autonomous flight without GNSS signals, additional technologies are required. This paper proposes the autonomous flight system for structural inspection consisting of simultaneous localization and mapping (SLAM), path planning, and controls. The experiments were conducted on an actual large bridge to verify the feasibility of the system, and especially the performance of the proposed SLAM algorithm was compared through comparative analysis with the state-of-the-art algorithms.
목차
Abstract
1. 서론
2. 전체 프레임워크
3. Supernode 기반의 계층적 그래프 SLAM
4. 다중 레이어 커버리지 경로 계획
5. 상위 제어
6. 실험결과
7. 결과 및 고찰
References
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UCI(KEPA) : I410-ECN-0101-2021-559-001911293