30 Jun Student | Chi Hei Vong (Calvin) | Design, Modelling and Simulation
Chi Hei Vong (Calvin)
Monash University (Supervisor: Hoam Chung)
PhD topic – Control and navigation of micro UAV in small railway culverts and tunnels
Railway culverts are confined rail asset spaces and as such, additional safety training and manpower requirements are required for inspections. There are increasing interests in using miniature autonomous unmanned aerial vehicles (UAVs), also known as drones, to perform these inspections in confined spaces. This project aims to understand aerodynamic interactions in enclosed environments and to develop control and navigation strategies in order for the vehicles to perform these tasks.
Expected completion date
- Investigation of the aerodynamic disturbances (Tunnel Effects) for quadcopters in confined tunnels.
- A low-level sensing and localisation system has been designed to provide reliable cross-sectional position information for tunnel navigation.
- A quadcopter platform has been implemented with a custom designed controller to achieve semi-autonomous flight inside tunnel environments.
- The system has been successfully tested in underground mines and railway tunnels.
Ravitharan, R., Chevin, J., Chung, H., Vong, CH. and Zhang, D. (2019) The Implementation of Unmanned Autonomous Systems (UAS) for Rail Inspection. In Larsson-Kraik, P.O. (Ed), Ahmadi, A. (Ed.), Proceedings of the International Heavy Haul Association STS Conference (IHHA 2019) Narvik, Norway.
Vong, CH., Ryan, K. and Chung, H. (2019). Integral Backstepping Position Control for Quadrotors in Tunnel-Like Confined Environments. In 2019 International Conference on Robotics and Automation (ICRA)(pp. 6425-6431). May 20-24, 2019, Montreal, Canada.