Vision-based localization and navigation for UAV inspection in photovoltaic farms

被引：2
|
作者：
Xi Z.-P. [1 ]
Lou Z. [1 ]
Li X.-X. [1 ]
Sun Y. [1 ]
Yang Q. [1 ]
Yan W.-J. [1 ]
机构：
[1] College of Electrical Engineering, Zhejiang University, Hangzhou
来源：
Zhejiang Daxue Xuebao (Gongxue Ban)/Journal of Zhejiang University (Engineering Science) | 2019年 / 53卷 / 05期
关键词：
Autonomous flight; Path following; Photovoltaic inspection; Quad-rotor unmanned aerial vehicle (UAV); Vision localization;
D O I：
10.3785/j.issn.1008-973X.2019.05.008
中图分类号：
学科分类号：
摘要：
In order to achieve autonomous flight for unmanned aerial vehicles (UAVs) in PV farms and complete infrared and visible-light image acquisition, an edge detecting method for photovoltaic (PV) strings was proposed and the line of sight guidance based path following control algorithm was carried out according to the distribution characteristics of PV strings. Color variance widely existes among different PV modules in the same PV farm, based on which a custom color segmentation technique was put forward. This technique could be combined with shape features to realize accurate identification for PV modules. Theoretical flight paths could be gained through contour and edge information of PV strings after which the line of sight guidance method was applied to accurate trajectory tracking control for theoretical path to guarantee the effectiveness and integrity of image data acquisition. Results showed that the proposed recognition algorithm for PV strings was excellent in adaptability and instantaneity and could be used to calculate the theoretical flight direction of UAV and the offsets between the UAV and PV strings, and the ideal trajectory tracking for PV strings can be realized through the navigation control algorithm. The identification approach for PV strings and the line of sight guidance method can work well in localization and navigation respectively, and combination of the two procedures can meet the requirements of UAV flight control. © 2019, Zhejiang University Press. All right reserved.
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页码：880 / 888
页数：8
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