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Advisor(s)
Abstract(s)
Realizing autonomous inspection, such as that of power distribution lines, through unmanned
aerial vehicle (UAV) systems is a key research domain in robotics. In particular, the use of autonomous
and semi-autonomous vehicles to execute the tasks of an inspection process can enhance the efficacy
and safety of the operation; however, many technical problems, such as those pertaining to the precise
positioning and path following of the vehicles, robust obstacle detection, and intelligent control, must be
addressed. In this study, an innovative architecture involving an unmanned aircraft vehicle (UAV) and an
unmanned ground vehicle (UGV) was examined for detailed inspections of power lines. In the proposed
strategy, each vehicle provides its position information to the other, which ensures a safe inspection
process. The results of real-world experiments indicate a satisfactory performance, thereby demonstrating
the feasibility of the proposed approach.
Description
Keywords
Cooperative UAV–UGV energy pylon inspection Cooperative vehicle position sensing Autonomous power line inspection
Pedagogical Context
Citation
Cantieri, Alvaro; Ferraz, Matheus; Szekir, Guido; Teixeira, Marco Antônio; Lima, José; Oliveira, André Schneider; Wehrmeister, Marco Aurélio (2020). Cooperative UAV–UGV autonomous power pylon inspection: an investigation of cooperative outdoor vehicle positioning architecture. Sensors. ISSN 1424-8220. 20:21, p. 1-22