Binocular vision perception and obstacle avoidance of visual simulation system for power lines inspection with UAV

Automatic perception and obstacle avoidance in three-dimensional(3D) complex environment is one of the most challenging task for UAV-based power lines inspection. In this paper, binocular vision perception and obstacle avoidance of visual simulation system for power lines inspection with UAV is proposed. First, the realistic power lines inspection scene is established by Vega Prime simulation platform. Then, the power towers and obstacles are perceived based on binocular stereo vision technology. Last, a smooth and safe path will be planned based on interfered fluid dynamical system(IFDS) and the real-time local optimal path can be planned by combining IFDS method and rolling optimization strategy. The simulation results indicate this system has real-time performance and high fidelity.