Abstract
A large percentage of current overhead power transmission infrastructure is becoming aged, raising the demand for frequent grid inspections in an efficient, and cost-effect manner in order to keep it functional. Autonomous drones are a promising solution for infrastructure inspection, but require further investigation and development to be a viable alternative.
This paper proposes a drone framework based on open-source platforms for autonomous inspection of electrical grid infrastructure and for cable grasping. The framework incorporates a cloud service functionality to provide geo-location data of nearby power pylons; a localisation system for navigation near power pylons and grasping cables; and algorithms for finding and planning paths for navigation and grasping over cables. The proposed framework has been tested and validated in simulation, with the development of a UAV platform for future integration.
This paper proposes a drone framework based on open-source platforms for autonomous inspection of electrical grid infrastructure and for cable grasping. The framework incorporates a cloud service functionality to provide geo-location data of nearby power pylons; a localisation system for navigation near power pylons and grasping cables; and algorithms for finding and planning paths for navigation and grasping over cables. The proposed framework has been tested and validated in simulation, with the development of a UAV platform for future integration.
Original language | English |
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Title of host publication | 2020 23rd Euromicro Conference on Digital System Design (DSD) |
Publisher | IEEE |
Publication date | 8. Oct 2020 |
Pages | 503-509 |
ISBN (Electronic) | 978-1-7281-9535-3 |
DOIs | |
Publication status | Published - 8. Oct 2020 |
Event | 2020 23rd Euromicro Conference on Digital System Design (DSD) - Kranj, Slovenia Duration: 26. Aug 2020 → 28. Aug 2020 Conference number: 23 |
Conference
Conference | 2020 23rd Euromicro Conference on Digital System Design (DSD) |
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Number | 23 |
Country/Territory | Slovenia |
City | Kranj |
Period | 26/08/2020 → 28/08/2020 |
Keywords
- Autonomous missions
- Cloud services
- Detection algorithms
- Drones
- Framework
- Inspection
- ROS