期刊名称：Lecture Notes in Engineering and Computer Science
印刷版ISSN：2078-0958
电子版ISSN：2078-0966
出版年度：2018
卷号：2233&2234
页码：804-808
出版社：Newswood and International Association of Engineers
摘要：In this paper, development of a drone system to
inspect social infra structure and its control system are
explained. Obtaining absolute position with GPS is a
fundamental method widely utilized in applications of a drone
flying in the air because it provides sufficient performance
required for autonomous flight. However, it cannot be used
when a drone is moving near a building because of multi-paths
and occlusion problems of radio signals from satellites.
Particularly, a drone for inspection task of social infrastructure
is required to have capability of autonomous flight near
buildings for efficient work and safety. As the essential function
for that, an algorithm to estimate the position of vehicle itself is
investigated and embedded to the developed system. A 3D depth
camera was employed to get both depth and image data of
environment surrounding the vehicle. The position estimation
carried out with SLAM (Simultaneous Localization and
Mapping) algorithm using depth information is introduced.
Besides, a controller to move the drone autonomously based on
the position information was also developed. The system has
been evaluated through several experiments.
