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

作     者：LIU Chang'an DONG Ruifang JIN Lu WU Hua 

作者机构：School of Control and Computer EngineeringNorth China Electric Power University 

出 版 物：《Chinese Journal of Electronics》 (电子学报(英文))

年 卷 期：2018年第27卷第5期

页      面：976-984页

核心收录：

学科分类：0808[工学-电气工程] 0809[工学-电子科学与技术（可授工学、理学学位）] 08[工学] 080202[工学-机械电子工程] 0802[工学-机械工程] 0701[理学-数学] 

基　　金：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) 

主　　题：Transmission tower inspection Viewpoint optimization Point cloud model Particle swarm optimization(PSO) Flying robot 

摘      要：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.