Obstacle avoidance during aerial inspection of power lines

Abstract

Gives an overview of a research programme that aims to apply machine vision for guiding a small, unmanned helicopter during inspection of overhead electrical distribution lines. Briefly discusses the background and requirements for aerial inspection of power lines and states the advantages of using a remotely piloted vehicle (RPV). Identifies the main obstacle to the use of RPVs in this application as the ’‘see and avoid” principle, which arises from regulatory requirements; it is the underlying motivation for the work described here. Machine vision and automated path planning offer a potential solution. Gives a brief tutorial of the principles involved and describes research in image processing and rapid path planning aimed at detecting and avoiding obstacles in the airspace of a small RPV. Also presents experimental results from a laboratory test rig which was constructed to assess the methods.

Citation

Williams, M., Jones, D.I. and Earp, G.K. (2001), "Obstacle avoidance during aerial inspection of power lines", Aircraft Engineering and Aerospace Technology, Vol. 73 No. 5, pp. 472-479. https://doi.org/10.1108/00022660110403023