Abstract
Recent advances in the research of autonomous vehicles have showed a vast range of applications, such as exploration, surveillance and environmental monitoring. Considering the mining industry, it is possible to use such vehicles in the prospection of minerals of commercial interest beneath the ground. However, tasks such as geophysical surveys are highly dependent on specific sensors, which mostly are not designed to be used in these new range of autonomous vehicles. In this work, we propose a novel magnetic survey pipeline that aims to increase versatility, speed and robustness by using autonomous rotary-wing Unmanned Aerial Vehicles (UAVs). We also discuss the development of a state-of-the-art three-axis fluxgate, where our goal in this work was to refine and adjust the sensor topology and coupled electronics specifically for this type of vehicle and application. The sensor was built with two ring-cores using a specially developed stress-annealed CoFeSiB amorphous ribbon, in order to get sufficient resolution to detect concentrations of small ferrous minerals. Finally, we report on the results of experiments performed with a real UAV in an outdoor environment, showing the efficacy of the methodology in detecting an artificial ferrous anomaly.
Highlights
Robotics has received notoriety in our society mainly due to the wide use of manipulators.recent advances on the research of autonomous vehicles have shown a much more vast range of applications, such as exploration, surveillance and environmental monitoring
The use of aerial robots have a clear advantage over other kind of robots, since they are able to navigate over large areas faster and with a privileged view from above
The coverage path planning strategy for autonomous mapping is proposed in Section 3, followed by Section 4 in which we describe the methodology for data acquisition and map generation
Summary
Recent advances on the research of autonomous vehicles have shown a much more vast range of applications, such as exploration, surveillance and environmental monitoring In this sense, the use of aerial robots have a clear advantage over other kind of robots, since they are able to navigate over large areas faster and with a privileged view from above. Most aerial surveys are created using a manned aircraft with expensive and special equipment, and it is a high cost and time consuming task, as it generally must be done on large areas. In this context, autonomous aerial robots can bring many
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