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Modeling and control of a robotic power line inspection vehicle

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4 Author(s)
Jones, Dewi ; Sch. of Informatics, Wales Univ., Bangor ; Golightly, I. ; Roberts, J. ; Usher, K.

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

Published in:

Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE

Date of Conference:

4-6 Oct. 2006

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