UAV Vision-Based Nonlinear Formation Control Applied to Inspection of Electrical Power Lines
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F20%3A00347474" target="_blank" >RIV/68407700:21230/20:00347474 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/ICUAS48674.2020.9213967" target="_blank" >https://doi.org/10.1109/ICUAS48674.2020.9213967</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICUAS48674.2020.9213967" target="_blank" >10.1109/ICUAS48674.2020.9213967</a>
Alternative languages
Result language
angličtina
Original language name
UAV Vision-Based Nonlinear Formation Control Applied to Inspection of Electrical Power Lines
Original language description
Cooperation of humans workers and a team of UAV co-workers for inspection and maintenance of electrical power is the main motivation of research presented in this paper. Collaborative human-UAV works at height are beneficial from several reasons including providing images from the ideal point of view, monitoring of the safety of individual workers, and even aerial delivering of required tools. These tasks also involve cognitive capabilities in the monitoring of the workers and the detection of unsafe behaviors, transportation of tools or parts needed by the workers and collective manipulation with the workers. In general, interaction of humans and teams of UAVs becomes an important task as aerial robots are widely spread in various applications that require the presence of people in their workspace. To achieve such interaction, group control of multiple UAVs must take states of workers (e.g. position relative to aerial co-workers and prediction of worker's future behavior), maintaining an adaptable formation and maximizing the observation of the worker. Thus, we propose in this work, a distributed vision-based nonlinear formation control (DVNFC) approach that results in an adaptable formation where the controller minimizes the error in observation always maintaining the visualization of the human by the whole formation. We performed several numerical simulations using ROS/Gazebo with real-time visual feedback to validate our approach.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2020
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
International Conference on Unmanned Aircraft Systems (ICUAS)
ISBN
978-1-7281-4278-4
ISSN
2373-6720
e-ISSN
2575-7296
Number of pages
8
Pages from-to
1301-1308
Publisher name
IEEE
Place of publication
Vancouver
Event location
Athens
Event date
Sep 1, 2020
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000612041300167