Viewpoint Optimization Method for Flying Robot Inspecting Transmission Towers Based on Point Cloud Model. Issue 5 (1st September 2018)

• Record Type: Journal Article
• Authors: Liu, Chang'an; Dong, Ruifang; Jin, Lu; Wu, Hua
• Is Part Of: Chinese journal of electronics. Volume 27:Issue 5(2018)
• Page Start: 976
• Page End: 984
• Publication Date: 2018-09-01
• Subjects: Transmission tower inspection -- Viewpoint optimization -- Point cloud model -- Particle swarm optimization (PSO) -- Flying robot; aerospace robotics -- decision theory -- inspection -- intelligent robots -- particle swarm optimisation -- poles and towers; transmission power -- particle swarm optimization -- accurate transmission tower inspection -- patch‐based method -- viewpoint optimization method -- flying robot inspecting transmission towers -- point cloud model -- safe envelope -- safe transmission tower inspection rules -- inspection factors -- candidate viewpoint quality -- multiple attribute decision theory -- PSO -- optimal viewpoint set; Electronics -- Periodicals; Electronics -- China -- Periodicals; Electronics; China; Periodicals; 621.38105
• DOI: 10.1049/cje.2018.05.005
• Languages: English
• ISSNs: 1022-4653

Abstract

Abstract : This paper presents a method to derive optimal viewpoints for flying robot based transmission tower inspection, which applies point cloud model. A safe envelope is established according to safe transmission tower inspection rules. Essential inspection factors are proposed to evaluate the quality of candidate viewpoints, which includes visibility, dimensionality feature of point cloud as well as the distance between viewpoint and transmission power. A score function is constructed to quantify candidate viewpoints, while multiple attribute decision theory is applied to calculate the weight of each factor. Particle swarm optimization(PSO) is used to find the optimal viewpoints set. Both simulation experiment and practical observations are carried out. The results prove that optimal viewpoints have a great contribution for accurate transmission tower inspection. Final results are compared to patch‐based method and proved to be feasible.