Reaching and performing operations on overhead power line cables is challenging and mainly carried out by helicopters or foot patrol. This paper proposes a light-weight and low-cost drone platform for detecting overhead cables to autonomously grasp them through an integrated soft gripper. The cable detection system utilizes a pair of solid-state LiDARs with differing field-of-views and a small onboard companion computer to detect 38mm cables while maintaining accurate alignment to perform grasping. A full drone airframe with a soft gripper has been designed, analyzed and manufactured to serve this work. A set of algorithms and software tools have been developed to accomplish an autonomous drone mission to reach a cable. The overall drone system (LOCATOR) has been tested and validated in simulation and verified in an outdoor setup that reflects the real power line infrastructure.
LOCATOR - Lightweight and Low-Cost Autonomous Drone System for Overhead Cable Detection and Soft Grasping
2020-01-01
Iversen , N , Schofield , O B & Ebeid , E 2020 , LOCATOR - Lightweight and Low-Cost Autonomous Drone System for Overhead Cable Detection and Soft Grasping . in L Marques , M Khonji & J Dias (eds) , 2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), . IEEE , pp. 205-212 , 2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) , Abu Dhabi , United Arab Emirates , 04/11/2020 . https://doi.org/10.1109/SSRR50563.2020.9292591
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |