Open-Source Hardware/Software Architecture for Autonomous Powerline-Aware Drone Navigation and Recharging

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Abstract

Recent research has pushed the applications of UAVs into domains such as infrastructure inspection and interaction. For UAVs to be able to safely and efficiently perform autonomous operations near the target infrastructure, they need to be aware of their surroundings while exposing navigation API to the application software. For powerline inspection UAVs, this yields a requirement for knowledge of the powerline cable positions and a set of actions facilitating specific flight operations in this environment. This work presents a hardware/software system solving these requirements. A framework is shown which allows application software to autonomously fly the UAV to any of the perceived cables, to fly the UAV along a cable, and to land on and takeoff from a cable. The system relies on an abstract representation of the identified and tracked cables, while solving the flight maneuvers using an MPC based trajectory planning routine. The system is tested in a real powerline environment featuring four cables stretched between two pylons. A GUI application is developed for triggering the actions remotely from a ground control station while providing a visual representation of the perceived cables and planned trajectories
Original languageEnglish
Title of host publication 2023 International Conference on Unmanned Aircraft Systems (ICUAS)
PublisherIEEE
Publication dateJun 2023
Pages1233-1240
ISBN (Electronic)979-8-3503-1037-5
DOIs
Publication statusPublished - Jun 2023
Event2023 International Conference on Unmanned Aircraft Systems - Warsaw, Poland
Duration: 6. Jun 20239. Jun 2023

Conference

Conference2023 International Conference on Unmanned Aircraft Systems
Country/TerritoryPoland
CityWarsaw
Period06/06/202309/06/2023
SeriesProceedings of International Conference on Unmanned Aircraft Systems
ISSN2373-6720

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