Autonomous power line detection and tracking system using UAVs

Schofield, Oscar Bowen; Iversen, Nicolai; Ebeid, Emad

doi:10.1016/j.micpro.2022.104609

Cited by 12 publications

(3 citation statements)

References 8 publications

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“…2, where navigation and observation pilots are denoted in green and red respectively. To handle the control outputs from multiple operational nodes, the dynamic pilot template and handler system previously developed by the authors [17] was used to ensure seamless handshaking between the message handler and flight controller using MAVROS middleware package.…”

Section: Fig 2 Steps Within the Inspection Mission Green Represents T...mentioning

confidence: 99%

See 1 more Smart Citation

Design, Integration and Implementation of an Intelligent and Self-recharging Drone System for Autonomous Power line Inspection

Iversen

Schofield

Cousin

et al. 2021

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Section: Fig 2 Steps Within the Inspection Mission Green Represents T...mentioning

confidence: 99%

“…Considering the authors' previous work, the proposed system presents an extension and integration of their previous take on developing autonomous drone systems for power line alignment and grasping, wireless battery charging, and realtime fault detection. [16][6] [17].…”

Section: Introductionmentioning

confidence: 99%

Design, Integration and Implementation of an Intelligent and Self-recharging Drone System for Autonomous Power line Inspection

Iversen

Schofield

Cousin

et al. 2021

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“…The flight mechanism can land on power lines and fly over obstacles, while the walking mechanism can walk along the OPTLs [12,13]. The existing landing methods of hybrid robots only allow the robots to approach power lines from the top [12,[14][15][16] or the bottom [17][18][19]. However, these hybrid robots are unstable when walking on power lines due to their mechanical structure.…”

Section: Introductionmentioning

confidence: 99%

A Novel Autonomous Landing Method for Flying–Walking Power Line Inspection Robots Based on Prior Structure Data

Zeng,

Qin,

et al. 2023

Applied Sciences

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Hybrid inspection robots have been attracting increasing interest in recent years, and are suitable for inspecting long-distance overhead power transmission lines (OPTLs), combining the advantages of flying robots (e.g., UAVs) and climbing robots (e.g., multiple-arm robots). Due to the complex work conditions (e.g., power line slopes, complex backgrounds, wind interference), landing on OPTL is one of the most difficult challenges faced by hybrid inspection robots. To address this problem, this study proposes a novel autonomous landing method for a developed flying–walking power line inspection robot (FPLIR) based on prior structure data. The proposed method includes three main steps: (1) A color image of the target power line is segmented using a real-time semantic segmentation network, fusing the depth image to estimate the position of the power line. (2) The safe landing area (SLA) is determined using prior structure data, applying the trajectory planning method with geometric constraints to generate the dynamic landing trajectory. (3) The landing trajectory is tracked using real-time model predictive control (MPC), controlling FPLIR to land on the OPTL. The feasibility of the proposed method was verified in the ROS Gazebo environment. The RMSE values of the position along three axes were 0.1205,0.0976 and 0.0953, respectively, while the RMSE values of the velocity along these axes were 0.0426, 0.0345 and 0.0781. Additionally, experiments in a real environment using FPLIR were performed to verify the validity of the proposed method. The experimental results showed that the errors of position and velocity for the FPLIR landing on the lines were 6.18×10−2 m and 2.16×10−2 m/s. The simulation results as well as the experimental findings both satisfy the practical requirements. The proposed method provides a foundation for the intelligent inspection of OPTL in the future.

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Extraction and analysis of tree canopy height information in high-voltage transmission-line corridors by using integrated optical remote sensing and LiDAR

Hao¹,

Li²,

Wang³

et al. 2023

Geodesy and Geodynamics

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Autonomous power line detection and tracking system using UAVs

Cited by 12 publications

References 8 publications

Design, Integration and Implementation of an Intelligent and Self-recharging Drone System for Autonomous Power line Inspection

Design, Integration and Implementation of an Intelligent and Self-recharging Drone System for Autonomous Power line Inspection

A Novel Autonomous Landing Method for Flying–Walking Power Line Inspection Robots Based on Prior Structure Data

Extraction and analysis of tree canopy height information in high-voltage transmission-line corridors by using integrated optical remote sensing and LiDAR

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