Modeling and control of a robotic power line inspection vehicle

Jones, Dewi, Golightly, Ian, Roberts, Jonathan, & Usher, Kane (2006) Modeling and control of a robotic power line inspection vehicle. In Proceedings of the 2006 IEEE International Conference on Control Applications, IEEE, Munich, Germany, pp. 632-637.

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Power line inspection is a vital function for electricity supply companies but it involves labor-intensive and expensive procedures which are tedious and error-prone for humans to perform. A possible solution is to use an unmanned aerial vehicle (UAV) equipped with video surveillance equipment to perform the inspection. This paper considers how a small, electrically driven rotorcraft conceived for this application could be controlled by visually tracking the overhead supply lines. A dynamic model for a ducted-fan rotorcraft is presented and used to control the action of an Air Vehicle Simulator (AVS), consisting of a cable-array robot. Results show how visual data can be used to determine, and hence regulate in closed loop, the simulated vehicle’s position relative to the overhead lines.

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4 citations in Scopus
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ID Code: 83478
Item Type: Conference Paper
Refereed: Yes
Keywords: Aerospace instrumentation, Aircraft control, Inspection, Power cables, Power overhead lines, Remotely operated vehicles, Robot vision, Tracking
DOI: 10.1109/CACSD-CCA-ISIC.2006.4776719
ISBN: 0780397975
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2006 IEEE
Deposited On: 10 Apr 2015 00:02
Last Modified: 13 Apr 2015 05:55

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