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논문 기본 정보

자료유형
학술저널
저자정보
정종민 (연세대학교) 김재승 (연세대학교) 윤태성 (Changwon National University) 박진배 (Yonsei University)
저널정보
대한전기학회 전기학회논문지 전기학회논문지 제67권 제6호
발행연도
2018.6
수록면
773 - 781 (9page)

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In recent years, a study of power-line inspection using an unmanned aerial vehicle (UAV) has been actively conducted. However, relevant studies have been conducting power-line inspection with an UAV operated by manual control, and they have developed just power-line detection algorithm on aerial images. To overcome limitations of existing research, we propose a drone-based power-line tracking system in this paper. The main contributions of this paper are to operate developed system under configured environment and to develop a power-line detection algorithm in real-time. Developed system is composed of the power-line detection and the image-based tracking control. To detect a power-line in real-time, a region of interest (ROI) image is extracted. Furthermore, clustering algorithm is used in order to discriminate the power-line from background. Finally, the power-line is detected by using the Hough transform, and a center position and a tilt angle are estimated by using the Kalman filter to control a drone smoothly. We design a position controller and an attitude controller for image-based tracking control, and both controllers are designed based on the proportional-derivative (PD) control method. The interaction between the position controller and the attitude controller makes the drone track the power-line. Several experiments were carried out in environments where conditions are similar to actual environments, which demonstrates the superiority of the developed system.

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Abstract
1. 서론
2. 본론
3. 실험 결과 및 분석
4. 결론
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UCI(KEPA) : I410-ECN-0101-2018-560-002231118