Nowadays, one of the possibilities of performing inspections of electrical power lines is using visual inspections from video records taken from a camera situated on a commercial helicopter. This paper describes an unmanned aerial inspection system architecture and the vehicle control of the prototype that is being developed by the robotic group of DISAM at Universidad Politecnica de Madrid for electrical power line inspection. A machine vision system is used to obtain the information for the vehicle guidance by automatic detection of the power lines by generating 3D coordinate images. Navigation is performed using an inertial measurement unit to obtain the attitude of the aircraft. The visual information obtained is used to correct the helicopter trajectories. A model of the mini-helicopter is adjusted and controlled using the linear quadratic Gaussian controller for pitch and roll movements and PID one for yaw.
Development of a low-cost autonomous mini-helicopter for power line inspections
2001
7 Seiten, 12 Quellen
Conference paper
English
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