Sensor architecture model for unmanned aerial vehicles dedicated to electrical tower inspections

This research proposes positioning obstacle detection sensors by multirotor unmanned aerial vehicles (UAVs) dedicated to detailed inspections in high voltage towers. Different obstacle detection sensors are analyzed to compose a multisensory architecture in a multirotor UAV. The representation of the beam pattern of the sensors is modeled in the CoppeliaSim simulator to analyze the sensors’ coverage and detection performance in simulation. A multirotor UAV is designed to carry the same sensor architecture modeled in the simulation. The aircraft is used to perform flights over a deactivated electrical tower, aiming to evaluate the detection performance of the sensory architecture embedded in the aircraft. The results obtained in the simulation were compared with those obtained in a real scenario of electrical inspections. The proposed method achieved its goals as a mechanism to early evaluate the detection capability of different previously characterized sensor architectures used in multirotor UAV for electrical inspections.

Palavras-chave

Unmanned aerial vehicles Sensor modelling Robotic simulator Electrical inspections

URI

http://hdl.handle.net/10198/27284

Citação

Berger, Guido; Braun, João; Júnior, Alexandre O.; Lima, José; Pereira, Ana I.; Valente, António; Soares, Salviano; Rech, Lucas C.; Cantieri, Álvaro R.; Wehrmeister, Marco A. (2022). Sensor architecture model for unmanned aerial vehicles dedicated to electrical tower inspections. In 2nd International Conference on Optimization, Learning Algorithms and Applications, OL2A 2022. Bragança