Design and Implementation of a Low-Latency MAVLink-Based UAV Control System for Remote Safety Inspection in Industrial Plants

다국어 초록 (Multilingual Abstract)

In this paper, we propose a low-latency UAV(Unmanned Aerial Vehicle) control system based on MAVLink(Micro Air Vehicle Link) that enables remote safety inspections in industrial plant environments. In facilities where large-scale machinery and densely packed structures operate in tandem, a wide range of safety incidents can occur, necessitating frequent and immediate safety inspections. Furthermore, in the event of an accident, it is crucial to monitor and identify faulty equipment and root causes in real time, even in locations that are difficult for human workers to access. UAV-based inspection and detection systems are particularly effective for performing safety checks in high-rise installations and congested plant areas where human access is limited.
The proposed system provides flexibility to integrate and switch between various detection modules required for diverse hazard identification tasks in hard-to-reach inspection zones. It is built upon a UAV equipped with a web server operating over a wireless communication network, enabling remote control via a standard web browser. To address the challenges posed by complex plant structures and communication latency, the system utilizes lightweight companion computers such as Raspberry Pi or Jetson Nano as control modules. These modules are directly interfaced with PX4 (PX4 Autopilot), enabling low-latency communication while minimizing power consumption from the UAV’s battery