Autonomous power line detection and tracking system using UAVs

A large portion of overhead power transmission infrastructure around the world is becoming aged, raising the demand for frequent grid inspections in an efficient, cost-effective manner in order to keep it functional. Drones are a promising solution for infrastructure inspection, however, they require further investigation and development to enable their autonomy for large scale inspection operations. This paper proposes a drone framework based on open-source platforms for autonomous inspection of electrical grid infrastructure. The framework incorporates (1) a cloud service for geo-location data of nearby power pylons; (2) a localisation system for pylon navigation and cable grasping; and (3) a cable following algorithm for cable inspection using onboard sensors. The software functionality of the proposed framework has been validated in a simulation power line environment. Custom drones have been developed for validating the framework and algorithms within an unenergised power line environment.