Detalhes bibliográficos
| Resumo: | This work presents a methodology for characterizing ultrasonic and LASER sensors aimed at detecting obstacles within the context of electrical inspections by multirotor Unmanned Aerial Vehicles (UAVs). A set of four ultrasonic and LASER sensor models is evaluated against eight target components, typically found in high-voltage towers. The results show that ultrasonic sensor arrays displaced 25 ∘ apart reduce the chances of problems related to crosstalk and angular uncertainty. Within the LASER sensor suite, solar exposure directly affects the detection behavior among lower power sensors. Based on the results obtained, a set of sensors capable of detecting multiple obstacles belonging to a high-voltage tower was identified. In this reasoning, it becomes possible to model sensor architectures for multirotor UAVs to detect multiple obstacles and advance in the state of the art in obstacle avoidance systems by UAVs in inspections of high-voltage towers. |
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| Autores principais: | Berger, Guido |
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| Outros Autores: | Oliveira Júnior, Alexandre de; Braun, João; Lima, José; Pinto, Milena F.; Valente, António; Pereira, Ana I.; Cantieri, Álvaro R.; Wehrmeister, Marco A. |
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| Assunto: | Electrical inspections Obstacle avoidance Sensor characterizing Unmanned aerial vehicles |
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| Ano: | 2023 |
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| País: | Portugal |
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| Tipo de documento: | comunicação em conferência |
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| Tipo de acesso: | acesso restrito |
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| Instituição associada: | Instituto Politécnico de Bragança |
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| Idioma: | inglês |
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| Origem: | Biblioteca Digital do IPB |
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