Visual Servoing NMPC Applied to UAVs for Photovoltaic Array Inspection
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Título: | Visual Servoing NMPC Applied to UAVs for Photovoltaic Array Inspection |
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Autor/es: | Velasco, Edison P. | Recalde, Luis F. | Guevara, Bryan S. | Varela-Aldás, José | Candelas-Herías, Francisco A. | Puente Méndez, Santiago T. | Gandolfo, Daniel C. |
Grupo/s de investigación o GITE: | Automática, Robótica y Visión Artificial |
Centro, Departamento o Servicio: | Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal | Universidad de Alicante. Instituto Universitario de Investigación Informática |
Palabras clave: | Aerial systems: Perception and autonomy | Optimization and optimal control | Visual servoing |
Fecha de publicación: | 31-ene-2024 |
Editor: | IEEE |
Cita bibliográfica: | IEEE Robotics and Automation Letters. 2024, 9(3): 2766-2773. http://doi.org/10.1109/LRA.2024.3360876 |
Resumen: | The photovoltaic (PV) industry is seeing a significant shift toward large-scale solar plants, where traditional inspection methods have proven to be time-consuming and costly. Currently, the predominant approach to PV inspection using unmanned aerial vehicles (UAVs) is based on the capture and detailed analysis of aerial images (photogrammetry). However, the photogrammetry approach presents limitations, such as an increased amount of useless data and potential issues related to image resolution that negatively impact the detection process during high-altitude flights. In this work, we develop a visual servoing control system with dynamic compensation using nonlinear model predictive control (NMPC) applied to a UAV. This system is capable of accurately tracking the middle of the underlying PV array at various frontal velocities and height constraints, ensuring the acquisition of detailed images during low-altitude flights. The visual servoing controller is based on extracting features using RGB-D images and employing a Kalman filter to estimate the edges of the PV arrays. Furthermore, this work demonstrates the proposal in both simulated and real-world environments using the commercial aerial vehicle (DJI Matrice 100), with the purpose of showcasing the results of the architecture. |
Patrocinador/es: | This work was supported in part by the Ministry of Science and Innovation of the Spanish Government under the research Project PID2021-122685OBI00 and in part by the training of research Ph.D. staff under Grant PRE2019-088069. |
URI: | http://hdl.handle.net/10045/140752 |
ISSN: | 2377-3766 |
DOI: | 10.1109/LRA.2024.3360876 |
Idioma: | eng |
Tipo: | info:eu-repo/semantics/article |
Derechos: | © 2024 The Authors. This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License. |
Revisión científica: | si |
Versión del editor: | http://doi.org/10.1109/LRA.2024.3360876 |
Aparece en las colecciones: | INV - AUROVA - Artículos de Revistas |
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Archivo | Descripción | Tamaño | Formato | |
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Velasco-Sanchez_etal_2024_IEEE-RAL.pdf | 5,31 MB | Adobe PDF | Abrir Vista previa | |
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