Navigation for a mobile robot to inspect aircraft

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dc.contributor.authorMansakul, Thanavin
dc.contributor.authorFan, Ip-Shing
dc.contributor.authorTang, Gilbert
dc.date.accessioned2023-09-15T15:21:36Z
dc.date.available2023-09-15T15:21:36Z
dc.date.issued2023-08-08
dc.description.abstractPreflight inspection is an important part of aircraft maintenance, as it does not affect only safety but also expenditure. In order to reduce the risks from human errors and the cost of operation, a mobile robot is introduced as an effective solution. This research examines navigation for aircraft inspection using a mobile robot. The two path planning methods, Dijkstra with DWA and A* with TEB, are compared by navigation performance in the simulation and three environments which are office, atrium, and hangar, to ensure that the robot is able to handle a variety of situations. In addition, an ultrasonic sensor was installed to perform obstacle avoidance and support LIDAR when it failed. The result is that both algorithms have their advantages depending on the purpose; if an accurate position is required, A* with TEB should be selected, while Dijkstra with DWA offers a smooth path and less time spent in small and complex environments. The notable parameters in navigation for the mobile robot, TurtleBot3, are presented, and limitations are detailed. The use of the autonomous mobile robot could support the operation with high precision and repeatability.en_UK
dc.identifier.citationMansakul T, Fan I-S, Tang G. (2023) Navigation for a mobile robot to inspect aircraft. In: 2023 7th International Young Engineers Forum (YEF-ECE), 7 July 2023, Lisbon, Portugalen_UK
dc.identifier.eisbn979-8-3503-0042-0
dc.identifier.isbn979-8-3503-0043-7
dc.identifier.urihttps://doi.org/10.1109/YEF-ECE58420.2023.10209290
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/20223
dc.language.isoenen_UK
dc.publisherIEEEen_UK
dc.rightsAttribution-NonCommercial 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc/4.0/*
dc.subjectAutonomous mobile roboten_UK
dc.subjectTurtleBot3en_UK
dc.subjectaircraft inspectionen_UK
dc.subjectnavigationen_UK
dc.subjectpath planningen_UK
dc.subjectA*en_UK
dc.subjectDijkstraen_UK
dc.subjectDynamic-Window Approach (DWA)en_UK
dc.subjectTimed Elastic Band (TEB)en_UK
dc.titleNavigation for a mobile robot to inspect aircraften_UK
dc.typeConference paperen_UK

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