Full-Text Search:
Home|Journal Papers|About CNKI|User Service|FAQ|Contact Us|中文
《电子学报(英文)》 2018-05
Add to Favorite Get Latest Update

Viewpoint Optimization Method for Flying Robot Inspecting Transmission Towers Based on Point Cloud Model

LIU Chang'an;DONG Ruifang;JIN Lu;WU Hua;School of Control and Computer Engineering,North China Electric Power University;  
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.
【Fund】: supported by the Programme for New Century Excellent Talents in University(No.NCET-11-0634);; the Fundamental Research Funds for the Central Universities(No.2015XS63)
【CateGory Index】: TP242
Download(CAJ format) Download(PDF format)
CAJViewer7.0 supports all the CNKI file formats; AdobeReader only supports the PDF format.
©2006 Tsinghua Tongfang Knowledge Network Technology Co., Ltd.(Beijing)(TTKN) All rights reserved