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arXiv · 2310.01160

Design, Modelling and Control of an Amphibious Quad-Rotor for Pipeline Inspection

Petar Durdevic·Shaobao Li·Daniel Ortiz-Arroyo
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Abstract

Regular inspections are crucial to maintaining waste-water pipelines in good condition. The challenge is that inside a pipeline the space is narrow and may have a complex structure. The conventional methods that use pipe robots with heavy cables are expensive, time-consuming, and difficult to operate. In this work, we develop an amphibious system that combines a quad-copter with a surface vehicle, creating a hybrid unmanned aerial floating vehicle (HUAFV). Nonlinear dynamics of the HUAFV are modeled based on the dynamic models of both operating modes. The model is validated through experiments and simulations. A PI controller designed and tuned on the developed model is implemented onto a prototype platform. Our experiments demonstrate the effectiveness of the new HUAFV's modeling and design.

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Petar Durdevic, Shaobao Li, Daniel Ortiz-Arroyo. 2023-10-02. Design, Modelling and Control of an Amphibious Quad-Rotor for Pipeline Inspection. https://arxiv.org/abs/2310.01160

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