Development of Quadrotor for 3D Spatial Inspection in Fusion Reactor Environment

Abstract

In the case of huge Fusion Reactor like Tokamak, frequently there is a need of inspection for the maintenance and safety purpose. Sometimes, it is very difficult to perform some inspections using man power or ground vehicular robots because of the giant size of the reactors, radioactive areas or high temperature areas. Intelligent Remote handling and Robotics system will play an important role in performing var- ious tasks such as remote maintenance, inspection and material handling. Quadrotor vehicles are gaining prominence as a platform for Unmanned Aerial Vehicles (UAVs) owing to their simplicity in construction, ease of maintenance, ability to hover and their Vertical Take-off and Landing capabilities (VTOL). Because of this, they are being widely developed for applications relating to reconnaissance, security, map- ping of radiations in reactors, gas leak detection and pay-load transport. Quadrotor based inspection systems can be employed in Tokamak for detecting vacuum leaks and mapping radioactivity around Fusion Reactor Environment. In this project the development of Quadrotor vehicle is completed through the use of the Micro Con- troller Platform. This project describes the Closed-Loop Control system known as PID to stabilize the vehicle and perform various flight motions.