Abstract
Navigation algorithms are presented that can be used to guide autonomous vehicles along a right of way to inspect poles or towers for corrosion, or to inspect enclosed spaces such as power substations. These algorithms use the combined methods of sensor feature extraction, PID control, dynamic window obstacle avoidance (DWA), and genetic algorithm (GA) solutions to the traveling-salesman problem (TSP). It is shown through simulation that these algorithms can be used to navigate a wheeled or tracked vehicle in a realistic environment. Results are shown using these algorithms on several types of vehicles in representative environments.
Subject
Costs,
Substations,
Sensors,
Objectives,
Modeling,
Cameras,
Inspection,
Corrosion detection,
Motion,
Algorithms,
Equipment,
Towers,
Visual assessment
© 2017 Association for Materials Protection and Performance (AMPP). All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form or by any means (electronic, mechanical, photocopying, recording, or otherwise) without the prior written permission of AMPP. Positions and opinions advanced in this work are those of the author(s) and not necessarily those of AMPP. Responsibility for the content of the work lies solely with the author(s).
2017
Association for Materials Protection and Performance (AMPP)
You do not currently have access to this content.
