Autonomous Overhead Powerline Recharging for Uninterrupted Drone Operations
ICRA 2024(2024)
摘要
We present a fully autonomous self-recharging drone system capable of long-duration sustained operations near powerlines. The drone is equipped with a robust onboard perception and navigation system that enables it to locate powerlines and approach them for landing. A passively actuated gripping mechanism grasps the powerline cable during landing after which a control circuit regulates the magnetic field inside a split-core current transformer to provide sufficient holding force as well as battery recharging.
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关键词
Aerial Systems: Applications,Aerial Systems: Perception and Autonomy,Aerial Systems: Mechanics and Control
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