ミラー搭載型２次元測域センサを用いた橋梁下におけるUAVの半自律衝突回避飛行

抄録

This paper presents a semi-autonomous collision avoidance flight using two-dimesnional laser range finder with mirrors. The sensor used in this research scans over horizontal and vertical directions simultaneously. We develop obstacle detection and height estimation system for inspection under bridge by using this sensor. The hough transform is used for the obstacle detection in the flight direction. For the height estimation under bridge, we develop a method to estimate the relative distance between the UAV and bridge even in the case when the surface of the bridge is rough. Flight experiment is carried out to verify the validity of developed system.