Method for Inspecting High-voltage Power Lines Using UAV Based on the RRT Algorithm

Abstract

AbstractDiagnostics of high-voltage power lines using unmanned aerial vehicles enables to identify problems at the early stages. This method of inspection of power transmission lines allows for aerial imaging in hard-to-reach places in order to further analyze the images obtained. The construction of the optimal route in terms of avoiding obstacles and the time spent on calculating the trajectory itself and flying along it to study power lines directly affects the quality, speed, and results of examining the towers and elements of power lines. The paper proposes a method for examining power lines by detection of damage to the structure and elements of power transmission lines. The method consists of two algorithms: an algorithm for detecting operational altitudes and an algorithm for UAV movement along the power transmission line. In our proposed solution, the developed method of inspection of power lines is not limited to one straight section of power lines. The peculiarity of the method is that the path planning using the RRT algorithm along the power transmission line occurs in two-dimensional space at a given working height. To test the efficiency of the proposed survey method, simulation was performed in the Gazebo software environment. The path search time in our proposed survey method does not exceed 0.3 μs for two sections of power transmission lines with an angular tower and a total path length of 200 m. Moreover, this algorithm allows the UAV to fly around the towers at a safe distance, subject to a predetermined terrain map.KeywordsPath planningUAVSurvey of power linesModelingMonitoring of power linesMovement of UAVsMulti-rotor UAVsCollision avoidance