Final Year Project

Project Title

Automated Tank Handover Inspection Utilizing Unmanned Aerial Systems (UAS) for Enhanced Precision and Efficiency

Description

The objective of our capstone project is to develop a control system for an unmanned aerial vehicle equipped with a rotating brush mechanism designed for cleaning tank walls. This project requires careful management to address several payloads and ensure stability throughout the rotating brush's interaction with the wall surface, unlike previous UAV applications. The rotating brush produces dynamic stresses that can unsettle the UAV, necessitating advanced control algorithms for optimal stabilization. Our solution utilizes a simulation-based approach, implemented in Gazebo, that simulates the UAV's behaviour and responses in challenging environments. The simulation validates the control algorithms crucial for the stability of the drone during the cleaning operation, highlighting its response to fluctuating payloads and the maintenance of flight integrity near the tank wall.