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Abstract
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.
Original language | English |
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Title of host publication | 2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), |
Editors | Lino Marques, Majid Khonji, Jorge Dias |
Publisher | IEEE |
Publication date | 2020 |
Pages | 205-212 |
ISBN (Electronic) | 978-0-7381-1123-0 |
DOIs | |
Publication status | Published - 2020 |
Event | 2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) - Online, Abu Dhabi, United Arab Emirates Duration: 4. Nov 2020 → 6. Nov 2020 |
Conference
Conference | 2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) |
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Location | Online |
Country/Territory | United Arab Emirates |
City | Abu Dhabi |
Period | 04/11/2020 → 06/11/2020 |
Keywords
- Mechanisms
- Manipulation
- Embedded Control
- Mechatronics
- Aerial Robotics
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Dive into the research topics of 'LOCATOR - Lightweight and Low-Cost Autonomous Drone System for Overhead Cable Detection and Soft Grasping'. Together they form a unique fingerprint.Related Activities
- 1 Conference presentations
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Invited panellist speaker at the 2020 IEEE-RAS International Symposium on Safety, Security, and Rescue Robotics (SSRR)
Nicolai Iversen (Guest lecturer)
5. Nov 2020Activity: Talks and presentations › Conference presentations
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EU H2020: Drones4Safety
Ebeid, E. S. M., Lindberg, A., Malle, N. H. & Nyboe, F. F.
01/06/2020 → 31/05/2023
Project: EU
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IFD: Drones4Energy
Ebeid, E. S. M., Lindberg, A., Iversen, N. & Schofield, O. B.
01/12/2018 → 30/11/2021
Project: Research