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UAV Flight Control Algorithm based on Detection and Pose Estimation of the Mounting Position for Weather Station on Transmission Tower using Depth Camera

Shen, Na 1; Chen, Wencheng 1; Stork, Wilhelm 1; Tang, Sai 1
1 Institut für Technik der Informationsverarbeitung (ITIV), Karlsruher Institut für Technologie (KIT)


This paper presents simulation-based realisation of an autopilot algorithm for UAV to approach the mounting position for weather station on the transmission tower. The specified corner leg serves to install and maintain the sensor network in the electric grid, aims to build a weather-dependent capacity monitoring and forecasting system. The algorithm is used to detect the transmission tower while a UAV is approaching, divided into the following steps: with consideration of the mathematical attribute of mast corner legs, the line detection based on gradient and length filter is used to extract and describe its features; the relative initial pose of UAV with respect to specified mounting leg is determined to pursue the rough adjustment; the thresholds are set to trigger the safety algorithm, to prevent the deviation of tower outside the field of view of camera, while the UAV is approaching toward the target; the fine adjustment is considered based on the pose and depth estimation of the diverse cross-section profile of mast leg. In addition, the algorithm for collision avoidance and preservation of the target under the observation is integrated. ... mehr

DOI: 10.1109/ICCA54724.2022.9831946
Zitationen: 1
Zugehörige Institution(en) am KIT Institut für Technik der Informationsverarbeitung (ITIV)
Publikationstyp Proceedingsbeitrag
Publikationsdatum 27.06.2022
Sprache Englisch
Identifikator ISBN: 978-1-6654-9573-8
KITopen-ID: 1000149764
Erschienen in IEEE 17th International Conference on Control & Automation (ICCA), Naples, Italy, 27-30 June 2022
Veranstaltung 17th IEEE International Conference on Control and Automation (ICCA 2022), Neapel, Italien, 27.06.2022 – 30.06.2022
Verlag Institute of Electrical and Electronics Engineers (IEEE)
Seiten 522–528
Nachgewiesen in Dimensions
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