Cooperative UAV–UGV Autonomous Power Pylon Inspection: An Investigation of Cooperative Outdoor Vehicle Positioning Architecture

Autor: Marco Aurélio Wehrmeister, Marco Antonio Simoes Teixeira, Matheus Ferraz, Alvaro Rogério Cantieri, Andre Schneider de Oliveira, Guido Szekir, José Lima
Rok vydání: 2020
Předmět:
0209 industrial biotechnology
Unmanned ground vehicle
Process (engineering)
Computer science
autonomous power line inspection
ComputerApplications_COMPUTERSINOTHERSYSTEMS
02 engineering and technology
lcsh:Chemical technology
Biochemistry
Article
Analytical Chemistry
Domain (software engineering)
Cooperative vehicle position sensing
020901 industrial engineering & automation
0202 electrical engineering
electronic engineering
information engineering
cooperative vehicle position sensing
Cooperative UAV–UGV energy pylon inspection
lcsh:TP1-1185
Electrical and Electronic Engineering
Instrumentation
business.industry
Robotics
Control engineering
cooperative UAV–UGV energy pylon inspection
Atomic and Molecular Physics
and Optics
Autonomous power line inspection
Obstacle
Key (cryptography)
020201 artificial intelligence & image processing
Artificial intelligence
business
Intelligent control
Zdroj: Sensors, Vol 20, Iss 6384, p 6384 (2020)
Sensors
Volume 20
Issue 21
Sensors (Basel, Switzerland)
Repositório Científico de Acesso Aberto de Portugal
Repositório Científico de Acesso Aberto de Portugal (RCAAP)
instacron:RCAAP
ISSN: 1424-8220
Popis: Realizing autonomous inspection, such as that of power distribution lines, through unmanned aerial vehicle (UAV) systems is a key research domain in robotics. In particular, the use of autonomous and semi-autonomous vehicles to execute the tasks of an inspection process can enhance the efficacy and safety of the operation
however, many technical problems, such as those pertaining to the precise positioning and path following of the vehicles, robust obstacle detection, and intelligent control, must be addressed. In this study, an innovative architecture involving an unmanned aircraft vehicle (UAV) and an unmanned ground vehicle (UGV) was examined for detailed inspections of power lines. In the proposed strategy, each vehicle provides its position information to the other, which ensures a safe inspection process. The results of real-world experiments indicate a satisfactory performance, thereby demonstrating the feasibility of the proposed approach.
Databáze: OpenAIRE
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