| Title |
Drone-based Power-line Tracking System |
| Authors |
정종민(Jongmin Jeong) ; 김재승(Jaeseung Kim) ; 윤태성(Tae Sung Yoon) ; 박진배(Jin Bae Park) |
| DOI |
http://doi.org/10.5370/KIEE.2018.67.6.773 |
| Keywords |
Drone ; Image-based control ; Power-line detection ; Tracking control |
| Abstract |
In recent years, a study of power-line inspection using an unmanned aerial vehicle (UAV) has been actively conducted. However, relevant studies have been conducting power-line inspection with an UAV operated by manual control, and they have developed just power-line detection algorithm on aerial images. To overcome limitations of existing research, we propose a drone-based power-line tracking system in this paper. The main contributions of this paper are to operate developed system under configured environment and to develop a power-line detection algorithm in real-time. Developed system is composed of the power-line detection and the image-based tracking control. To detect a power-line in real-time, a region of interest (ROI) image is extracted. Furthermore, clustering algorithm is used in order to discriminate the power-line from background. Finally, the power-line is detected by using the Hough transform, and a center position and a tilt angle are estimated by using the Kalman filter to control a drone smoothly. We design a position controller and an attitude controller for image-based tracking control, and both controllers are designed based on the proportional-derivative (PD) control method. The interaction between the position controller and the attitude controller makes the drone track the power-line. Several experiments were carried out in environments where conditions are similar to actual environments, which demonstrates the superiority of the developed system. |