Development and field test of novel two-wheeled UAV for bridge inspections

Abstract

This paper presents the development and field test of a novel unmanned aerial vehicle (UAV) for bridge inspections. The proposed UAV, which consists of a quadrotor, a cylindrical cage installed in it, and two spokeless wheels freely rotating around the cage, can climb and run on the bridge surface. Its structure improves durability and reduces air resistance compared with conventional UAVs with a cage or wheels. These advantages expand the uses of the UAV in various fields. This paper evaluates the effectiveness of the proposed UAV in real-world bridge inspection scenarios. We tested basic locomotion and measured air resistances. Experimental results on bridges demonstrated the ability to inspect various locations on bridges that are difficult for human inspectors to access.