This work presents a methodology for characterizing ultrasonic and LASER sensors aimed at detecting obstacles within the context of electrical inspections by multirotor Unmanned Aerial Vehicles (UAVs). A set of four ultrasonic and LASER sensor models is evaluated against eight target components, typically found in high-voltage towers. The results show that ultrasonic sensor arrays displaced 25 \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$^\circ $$\end{document} apart reduce the chances of problems related to crosstalk and angular uncertainty. Within the LASER sensor suite, solar exposure directly affects the detection behavior among lower power sensors. Based on the results obtained, a set of sensors capable of detecting multiple obstacles belonging to a high-voltage tower was identified. In this reasoning, it becomes possible to model sensor architectures for multirotor UAVs to detect multiple obstacles and advance in the state of the art in obstacle avoidance systems by UAVs in inspections of high-voltage towers.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Sensorial Testbed for High-Voltage Tower Inspection with UAVs


    Additional title:

    Lect. Notes in Networks, Syst.



    Conference:

    Iberian Robotics conference ; 2022 ; Zaragoza, Spain November 23, 2022 - November 25, 2022



    Publication date :

    2022-11-19


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Validating a Network Simulation Testbed for Army UAVs

    S. S. Hamilton / T. Schmoyer / J. J. Hamilton | NTIS | 2007




    ICARUS: Automatic Autonomous Power Infrastructure Inspection with UAVs

    Savva, Antonis / Zacharia, Angelos / Makrigiorgis, Rafael et al. | IEEE | 2021


    PATH PLANNING FOR INDOOR CONTACT INSPECTION TASKS WITH UAVS

    L. M. González-deSantos / J. Martínez-Sánchez / H. González-Jorge et al. | DOAJ | 2020

    Free access