Implementação de um sistema de controle para seguimento de linhas de transmissão utilizando um VANT

Abstract

This work has as objective to develop a vision-based supervisory system to a miniaturized unmanned aerial vehicle (UAV), which sends parameters to the dynamic controller of the UAV, in order to allow it to follow a transmission line. The path to be followed is a straight line that eventually changes its direction (in terms of the XY plane, located in the ground) and its altitude. The input parameters of the dynamic controller of the UAV depend on the phase the supervisory system is in (the options are “Line Following”, “Positioning” and “Yaw Adjustment”) and on how the UAV is positioned and oriented with respect to the transmission line. A camera onboard the vehicle, pointed downwards, is used to identify the transmission lines through processing the images the UAV acquires. The transmission lines are detected as line segments in the image, which are used to get the 3D position of the UAV with respect to the line and to change the phase of the supervisory system as well. The work presents the visual subsystem and describes how the UAV is located with respect to the line. The dynamic models of the UAVs used, helicopter and quadrotor, and the dynamic controllers used are also presented. Finally, simulated examples and experiments are shown, where theUAV have to follow a path similar to a transmisson line. The UAV completed the proposed path, which validate the proposed framework.