Design of Robot Monitoring System for Aviation

摘要

A significant share of the cost of owning an aircraft is comprised of the cost incurred on its maintenance. The paper purports to provide an autonomous framework for the maintenance cost reduction. The suggested framework is built upon Robot Operating System (ROS), implementing navigation, semantic mapping and manipulator motion planning to facilitate daily check tasks. In this framework, a robot mounted with a robotic arm having end effector suitable for performing daily check tasks is capable of doing visual inspection of the aircraft, performing maintenance tasks and can change its end effector depending on the tasks needed to be performed. Gazebo was used for simulation purpose.