Autonomous tracking and navigation controller for an unmanned aerial vehicle based on visual data for inspection of oil and gas pipelines

Amit Shukla, Huang Xiaoqian, Hamad Karki

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

33 Scopus citations

Abstract

This paper presents automated navigation control of an Unmanned Aerial Vehicle (UAV) based on visual data gathered by onboard camera. With depletion of easy resources and health, safety and environmental (HSE) challenges in exploiting newly found resources in hostile conditions are forcing oil and gas companies to look for robotic solutions for their problems. Pipelines carrying inflammable and toxic petroleum products are one of the most critical component of oil and gas industry. Being laid in extreme environmental conditions these critical assets require continuous inspection and maintenance. An UAV carrying non-contact sensors is proposed to use for external inspection of the visible pipeline sections. Till now UAVs are mostly used for general purpose visual surveillance while flying at very high altitude but in this novel work we propose accurate tracking and inspection while flying at very low altitude in close vicinity of the ground pipeline structure. Proposed automated inspection of the pipelines by the UAV has two stages firstly identification of the pipeline and secondly navigation control of the UAV for tracking of the pipeline structure. Both identification and tracking are based on visual data gathered by onboard cameras without any additional help of GPS information. This novel navigation control mechanism further has double layers of correction loops namely angular and lateral corrections. Navigation control uses heuristically tunes PID controllers and required geometrical parameters for angular and lateral corrections are extracted from visual data generated by onboard video camera.

Original languageBritish English
Title of host publicationICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings
PublisherIEEE Computer Society
Pages194-200
Number of pages7
ISBN (Electronic)9788993215120
DOIs
StatePublished - 24 Jan 2016
Event16th International Conference on Control, Automation and Systems, ICCAS 2016 - Gyeongju, Korea, Republic of
Duration: 16 Oct 201619 Oct 2016

Publication series

NameInternational Conference on Control, Automation and Systems
Volume0
ISSN (Print)1598-7833

Conference

Conference16th International Conference on Control, Automation and Systems, ICCAS 2016
Country/TerritoryKorea, Republic of
CityGyeongju
Period16/10/1619/10/16

Keywords

  • Hough Transformation
  • Line Tracking
  • Oil and Gas pipes
  • PID Controller
  • UAV

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