A Powerline Inspection UAV Equipped with Dexterous, Lockable Gripping Mechanisms for Autonomous Perching and Contact Rolling
Angus Lynch,Corey Duguid,Joao Buzzatto,Minas Liarokapis,Angus Lynch,Corey Duguid,Joao Buzzatto,Minas Liarokapis
Inspection of powerlines is a hard problem that requires humans to operate in remote locations and dangerous conditions. This paper proposes a quadcopter unmanned aerial vehicle (UAV) equipped with rolling-capable perching mechanisms and a depth-vision system for the purpose of autonomous power line inspection. The perching mechanism grips onto the power line, allowing the UAV to withstand externa...
