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Sensorial testbed for high-voltage tower inspection with UAVs

2023Conference paper Restricted access
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dc.contributor.authorBerger, Guido
dc.contributor.authorOliveira Júnior, Alexandre de
dc.contributor.authorBraun, João
dc.contributor.authorLima, José
dc.contributor.authorPinto, Milena F.
dc.contributor.authorValente, António
dc.contributor.authorPereira, Ana I.
dc.contributor.authorCantieri, Álvaro R.
dc.contributor.authorWehrmeister, Marco A.
dc.date.accessioned2023-03-16T11:24:32Z
dc.date.available2023-03-16T11:24:32Z
dc.date.issued2023
dc.description.abstractThis work presents a methodology for characterizing ultrasonic and LASER sensors aimed at detecting obstacles within the context of electrical inspections by multirotor Unmanned Aerial Vehicles (UAVs). A set of four ultrasonic and LASER sensor models is evaluated against eight target components, typically found in high-voltage towers. The results show that ultrasonic sensor arrays displaced 25 ∘ apart reduce the chances of problems related to crosstalk and angular uncertainty. Within the LASER sensor suite, solar exposure directly affects the detection behavior among lower power sensors. Based on the results obtained, a set of sensors capable of detecting multiple obstacles belonging to a high-voltage tower was identified. In this reasoning, it becomes possible to model sensor architectures for multirotor UAVs to detect multiple obstacles and advance in the state of the art in obstacle avoidance systems by UAVs in inspections of high-voltage towers.pt_PT
dc.description.versioninfo:eu-repo/semantics/publishedVersionpt_PT
dc.identifier.citationBerger, Guido S.; Júnior, Alexandre Oliveira; Braun, João; Lima, José; Pinto, Milena F.; Valente, António; Pereira, Ana I.; Cantieri, Álvaro R.; Wehrmeister, Marco A. (2023). Sensorial testbed for high-voltage tower inspection with UAVs. In 5th Iberian Robotics Conference (ROBOT). Zaragoza, SPAIN. 590, p.353-364pt_PT
dc.identifier.doi10.1007/978-3-031-21062-4_29pt_PT
dc.identifier.issn2367-3370
dc.identifier.urihttp://hdl.handle.net/10198/27776
dc.language.isoengpt_PT
dc.relationResearch Centre in Digitalization and Intelligent Robotics
dc.relationResearch Centre in Digitalization and Intelligent Robotics
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/pt_PT
dc.subjectElectrical inspectionspt_PT
dc.subjectObstacle avoidancept_PT
dc.subjectSensor characterizingpt_PT
dc.subjectUnmanned aerial vehiclespt_PT
dc.titleSensorial testbed for high-voltage tower inspection with UAVspt_PT
dc.typeconference paper
dspace.entity.typePublication
oaire.awardTitleResearch Centre in Digitalization and Intelligent Robotics
oaire.awardTitleResearch Centre in Digitalization and Intelligent Robotics
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F05757%2F2020/PT
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDP%2F05757%2F2020/PT
oaire.citation.conferencePlaceZaragoza, SPAINpt_PT
oaire.citation.endPage364pt_PT
oaire.citation.startPage353pt_PT
oaire.citation.title5th Iberian Robotics Conference (ROBOT)pt_PT
oaire.citation.volume590pt_PT
oaire.fundingStream6817 - DCRRNI ID
oaire.fundingStream6817 - DCRRNI ID
person.familyNameBerger
person.familyNameOliveira Júnior
person.familyNameBraun
person.familyNameLima
person.familyNamePereira
person.givenNameGuido
person.givenNameAlexandre de
person.givenNameJoão A.
person.givenNameJosé
person.givenNameAna I.
person.identifierhttps://scholar.google.com/citations?user=WurUUUUAAAAJ&hl=pt-PT&oi=ao
person.identifierR-000-8GD
person.identifier.ciencia-id931A-887B-D75D
person.identifier.ciencia-id7311-463F-3FA3
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person.identifier.ciencia-id6016-C902-86A9
person.identifier.ciencia-id0716-B7C2-93E4
person.identifier.orcid0000-0002-4100-1494
person.identifier.orcid0000-0002-7009-3965
person.identifier.orcid0000-0003-0276-4314
person.identifier.orcid0000-0001-7902-1207
person.identifier.orcid0000-0003-3803-2043
person.identifier.ridL-3370-2014
person.identifier.ridF-3168-2010
person.identifier.scopus-author-id57426745400
person.identifier.scopus-author-id57211244317
person.identifier.scopus-author-id55851941311
person.identifier.scopus-author-id15071961600
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.nameFundação para a Ciência e a Tecnologia
project.funder.nameFundação para a Ciência e a Tecnologia
rcaap.rightsrestrictedAccesspt_PT
rcaap.typeconferenceObjectpt_PT
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