Control and Planning of Rotary Wing Unmanned Aerial Vehicles Applied to High-Altitude Cableway Detection

A novel detection method is to use unmanned aerial vehicles for the detection of high-altitude passenger ropeways. This paper posed a challenging problem for detection system modeling and control. This article proposed a method of detecting high-altitude passenger ropeways by connecting two unmanned aerial vehicles. Firstly, the structural composition of the detection system was designed according to the testing scenario. Secondly, the dynamic models of the two drones are established. Besides this, a geometric controller is used to ensure the exactly tracking of the planed trajectory. Finally, the feasibility and validity are verified in the experiment.