Visual Servoing NMPC Applied to UAVs for Photovoltaic Array Inspection

Autores
Velasco Sánchez, Edison; Recalde Simancas, Luis Fernando; Guevara Bermeo, Bryan Stefano; Varela Aldás, José; Candelas, Francisco A.; Puente, Santiago T.; Gandolfo, Daniel
Año de publicación
2024
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
The photovoltaic (PV) industry is seeing a significant shift toward large-scale solar plants, where traditional inspection methods have proven to be time-consuming and costly. Currently, the predominant approach to PV inspection using unmanned aerial vehicles (UAVs) is based on the capture and detailed analysis of aerial images (photogrammetry). However, the photogrammetryapproach presents limitations, such as an increased amount of useless data and potential issues related to image resolution that negatively impact the detection process during high-altitude flights. In this work, we develop a visual servoing control system with dynamic compensation using nonlinear model predictive control (NMPC) applied to a UAV. This system is capable of accurately tracking the middle of the underlying PV array at various frontal velocities and height constraints, ensuring the acquisition of detailed images during low-altitude flights. The visual servoing controller is based on extracting features using RGB-D images and employing a Kalman filter to estimate the edges of the PV arrays. Furthermore, this work demonstrates the proposal in both simulated and real-world environments using the commercial aerial vehicle (DJI Matrice 100), with the purpose of showcasing the results of the architecture.
Fil: Velasco Sánchez, Edison. Universidad de Alicante; España
Fil: Recalde Simancas, Luis Fernando. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Guevara Bermeo, Bryan Stefano. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Varela Aldás, José. Universidad Tecnologica Indoamerica.; Ecuador
Fil: Candelas, Francisco A.. Universidad de Alicante; España
Fil: Puente, Santiago T.. Universidad de Alicante; España
Fil: Gandolfo, Daniel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Materia
AERIAL SYSTEMS
PERCEPTION AND AUTONOMY
OPTIMAL CONTROL
VISUAL SERVOING
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/265376
Acceder
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oai_identifier_str oai:ri.conicet.gov.ar:11336/265376
network_acronym_str CONICETDig
repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling Visual Servoing NMPC Applied to UAVs for Photovoltaic Array InspectionVelasco Sánchez, EdisonRecalde Simancas, Luis FernandoGuevara Bermeo, Bryan StefanoVarela Aldás, JoséCandelas, Francisco A.Puente, Santiago T.Gandolfo, DanielAERIAL SYSTEMSPERCEPTION AND AUTONOMYOPTIMAL CONTROLVISUAL SERVOINGhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2The photovoltaic (PV) industry is seeing a significant shift toward large-scale solar plants, where traditional inspection methods have proven to be time-consuming and costly. Currently, the predominant approach to PV inspection using unmanned aerial vehicles (UAVs) is based on the capture and detailed analysis of aerial images (photogrammetry). However, the photogrammetryapproach presents limitations, such as an increased amount of useless data and potential issues related to image resolution that negatively impact the detection process during high-altitude flights. In this work, we develop a visual servoing control system with dynamic compensation using nonlinear model predictive control (NMPC) applied to a UAV. This system is capable of accurately tracking the middle of the underlying PV array at various frontal velocities and height constraints, ensuring the acquisition of detailed images during low-altitude flights. The visual servoing controller is based on extracting features using RGB-D images and employing a Kalman filter to estimate the edges of the PV arrays. Furthermore, this work demonstrates the proposal in both simulated and real-world environments using the commercial aerial vehicle (DJI Matrice 100), with the purpose of showcasing the results of the architecture.Fil: Velasco Sánchez, Edison. Universidad de Alicante; EspañaFil: Recalde Simancas, Luis Fernando. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Guevara Bermeo, Bryan Stefano. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Varela Aldás, José. Universidad Tecnologica Indoamerica.; EcuadorFil: Candelas, Francisco A.. Universidad de Alicante; EspañaFil: Puente, Santiago T.. Universidad de Alicante; EspañaFil: Gandolfo, Daniel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaInstitute of Electrical and Electronics Engineers2024-03info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/265376Velasco Sánchez, Edison; Recalde Simancas, Luis Fernando; Guevara Bermeo, Bryan Stefano; Varela Aldás, José; Candelas, Francisco A.; et al.; Visual Servoing NMPC Applied to UAVs for Photovoltaic Array Inspection; Institute of Electrical and Electronics Engineers; IEEE Robotics and Automation Letters; 9; 3; 3-2024; 2766-27732377-3766CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/https://ieeexplore.ieee.org/document/10417074/info:eu-repo/semantics/altIdentifier/doi/10.1109/LRA.2024.3360876info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-29T10:47:27Zoai:ri.conicet.gov.ar:11336/265376instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-29 10:47:27.724CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Visual Servoing NMPC Applied to UAVs for Photovoltaic Array Inspection
title Visual Servoing NMPC Applied to UAVs for Photovoltaic Array Inspection
spellingShingle Visual Servoing NMPC Applied to UAVs for Photovoltaic Array Inspection
Velasco Sánchez, Edison
AERIAL SYSTEMS
PERCEPTION AND AUTONOMY
OPTIMAL CONTROL
VISUAL SERVOING
title_short Visual Servoing NMPC Applied to UAVs for Photovoltaic Array Inspection
title_full Visual Servoing NMPC Applied to UAVs for Photovoltaic Array Inspection
title_fullStr Visual Servoing NMPC Applied to UAVs for Photovoltaic Array Inspection
title_full_unstemmed Visual Servoing NMPC Applied to UAVs for Photovoltaic Array Inspection
title_sort Visual Servoing NMPC Applied to UAVs for Photovoltaic Array Inspection
dc.creator.none.fl_str_mv Velasco Sánchez, Edison
Recalde Simancas, Luis Fernando
Guevara Bermeo, Bryan Stefano
Varela Aldás, José
Candelas, Francisco A.
Puente, Santiago T.
Gandolfo, Daniel
author Velasco Sánchez, Edison
author_facet Velasco Sánchez, Edison
Recalde Simancas, Luis Fernando
Guevara Bermeo, Bryan Stefano
Varela Aldás, José
Candelas, Francisco A.
Puente, Santiago T.
Gandolfo, Daniel
author_role author
author2 Recalde Simancas, Luis Fernando
Guevara Bermeo, Bryan Stefano
Varela Aldás, José
Candelas, Francisco A.
Puente, Santiago T.
Gandolfo, Daniel
author2_role author
author
author
author
author
author
dc.subject.none.fl_str_mv AERIAL SYSTEMS
PERCEPTION AND AUTONOMY
OPTIMAL CONTROL
VISUAL SERVOING
topic AERIAL SYSTEMS
PERCEPTION AND AUTONOMY
OPTIMAL CONTROL
VISUAL SERVOING
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv The photovoltaic (PV) industry is seeing a significant shift toward large-scale solar plants, where traditional inspection methods have proven to be time-consuming and costly. Currently, the predominant approach to PV inspection using unmanned aerial vehicles (UAVs) is based on the capture and detailed analysis of aerial images (photogrammetry). However, the photogrammetryapproach presents limitations, such as an increased amount of useless data and potential issues related to image resolution that negatively impact the detection process during high-altitude flights. In this work, we develop a visual servoing control system with dynamic compensation using nonlinear model predictive control (NMPC) applied to a UAV. This system is capable of accurately tracking the middle of the underlying PV array at various frontal velocities and height constraints, ensuring the acquisition of detailed images during low-altitude flights. The visual servoing controller is based on extracting features using RGB-D images and employing a Kalman filter to estimate the edges of the PV arrays. Furthermore, this work demonstrates the proposal in both simulated and real-world environments using the commercial aerial vehicle (DJI Matrice 100), with the purpose of showcasing the results of the architecture.
Fil: Velasco Sánchez, Edison. Universidad de Alicante; España
Fil: Recalde Simancas, Luis Fernando. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Guevara Bermeo, Bryan Stefano. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Varela Aldás, José. Universidad Tecnologica Indoamerica.; Ecuador
Fil: Candelas, Francisco A.. Universidad de Alicante; España
Fil: Puente, Santiago T.. Universidad de Alicante; España
Fil: Gandolfo, Daniel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
description The photovoltaic (PV) industry is seeing a significant shift toward large-scale solar plants, where traditional inspection methods have proven to be time-consuming and costly. Currently, the predominant approach to PV inspection using unmanned aerial vehicles (UAVs) is based on the capture and detailed analysis of aerial images (photogrammetry). However, the photogrammetryapproach presents limitations, such as an increased amount of useless data and potential issues related to image resolution that negatively impact the detection process during high-altitude flights. In this work, we develop a visual servoing control system with dynamic compensation using nonlinear model predictive control (NMPC) applied to a UAV. This system is capable of accurately tracking the middle of the underlying PV array at various frontal velocities and height constraints, ensuring the acquisition of detailed images during low-altitude flights. The visual servoing controller is based on extracting features using RGB-D images and employing a Kalman filter to estimate the edges of the PV arrays. Furthermore, this work demonstrates the proposal in both simulated and real-world environments using the commercial aerial vehicle (DJI Matrice 100), with the purpose of showcasing the results of the architecture.
publishDate 2024
dc.date.none.fl_str_mv 2024-03
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/265376
Velasco Sánchez, Edison; Recalde Simancas, Luis Fernando; Guevara Bermeo, Bryan Stefano; Varela Aldás, José; Candelas, Francisco A.; et al.; Visual Servoing NMPC Applied to UAVs for Photovoltaic Array Inspection; Institute of Electrical and Electronics Engineers; IEEE Robotics and Automation Letters; 9; 3; 3-2024; 2766-2773
2377-3766
CONICET Digital
CONICET
url http://hdl.handle.net/11336/265376
identifier_str_mv Velasco Sánchez, Edison; Recalde Simancas, Luis Fernando; Guevara Bermeo, Bryan Stefano; Varela Aldás, José; Candelas, Francisco A.; et al.; Visual Servoing NMPC Applied to UAVs for Photovoltaic Array Inspection; Institute of Electrical and Electronics Engineers; IEEE Robotics and Automation Letters; 9; 3; 3-2024; 2766-2773
2377-3766
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/https://ieeexplore.ieee.org/document/10417074/
info:eu-repo/semantics/altIdentifier/doi/10.1109/LRA.2024.3360876
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
_version_ 1844614518414508032
score 13.070432

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