TY - GEN
T1 - Open-Source Hardware/Software Architecture for Autonomous Powerline-Aware Drone Navigation and Recharging
AU - Nyboe, Frederik Falk
AU - Malle, Nicolaj Haarhøj
AU - Hoang, Viet Duong
AU - Ebeid, Emad
PY - 2023/6
Y1 - 2023/6
N2 - 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
AB - 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
UR - https://www.youtube.com/watch?v=6BIiQyqsxKw
U2 - 10.1109/ICUAS57906.2023.10155937
DO - 10.1109/ICUAS57906.2023.10155937
M3 - Article in proceedings
T3 - Proceedings of International Conference on Unmanned Aircraft Systems
SP - 1233
EP - 1240
BT - 2023 International Conference on Unmanned Aircraft Systems (ICUAS)
PB - IEEE
T2 - 2023 International Conference on Unmanned Aircraft Systems
Y2 - 6 June 2023 through 9 June 2023
ER -