DEVELOPMENT AND SIMULATION OF AN AUTONOMOUS VEHICLE SYSTEM FOR AIRCRAFT INSPECTION WITH COMPUTER VISION

• Main Author: Yohanes Pardomoan, Gerald
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/61991
• Institution: Institut Teknologi Bandung

Visual inspection for aircraft maintenance is one of the most frequently performed procedures in the maintenance, repair, & overhaul (MRO) industry to ensure the airworthiness of an aircraft. In today's modern technology, the MRO industry uses a micro quadrotor combined with computer vision technology to carry out visual inspections because it is considered easier and faster when compared to the manual approach. In this study, the simulation was carried out by combining the visual servoing algorithm for determining the direction of motion with mathematical equations as modeling of the FTMD micro quadrotor to determine the actual position of the vehicle. This mathematical equation is also used to determine the dynamics of the stability of the micro quadrotor. The image used is a black-and-white (BW) and color (RGB) image that has been given several colored dots which is considered a defective model on the aircraft. Simulations were carried out on the right wing, fuselage, and left horizontal tail plane of the aircraft. Based on the simulation results, it can be seen that the micro quadrotor is stable and the simulation was successfully carried out on all missions using the BW image, while in the RGB image, the simulation was only successfully carried out on the wing and horizontal tail plane. It is necessary to optimize the algorithm so that this simulation can be carried out on RGB images, especially if the basic color of the aircraft image is not white, gray, or black (monochrome).