标题： 评估风力对接触式输电线路检查半自主无人机着陆的影响 显示英文标题

标题： Assessing Wind Impact on Semi-Autonomous Drone Landings for In-Contact Power Line Inspection

摘要： 近年来，由于效率高、成本低且能够到达难以到达的区域，检查无人机在高压电缆检查中的使用越来越受欢迎。 然而，在输电线上安全着陆无人机，尤其是在有风的条件下，仍然是一个重大挑战。 本研究介绍了一种半自主控制方案，用于在电力线上着陆，使用的NADILE无人机（一种基于原始LineDrone关键功能的实验性无人机，用于输电线检查），并评估了在不同风况下的操作包络。 采用蒙特卡洛方法分析给定初始无人机状态下的着陆成功率。 对两种着陆策略、各种控制器参数和四种风速等级下的系统性能进行了评估。 结果表明，两阶段着陆策略提供了更高的着陆成功率，并提供了关于最佳控制器参数和系统鲁棒性的最大风速水平的见解。 最后，展示了系统在输电线上自主着陆的实验演示。 显示英文摘要

摘要： In recent years, the use of inspection drones has become increasingly popular for high-voltage electric cable inspections due to their efficiency, cost-effectiveness, and ability to access hard-to-reach areas. However, safely landing drones on power lines, especially under windy conditions, remains a significant challenge. This study introduces a semi-autonomous control scheme for landing on an electrical line with the NADILE drone (an experimental drone based on original LineDrone key features for inspection of power lines) and assesses the operating envelope under various wind conditions. A Monte Carlo method is employed to analyze the success probability of landing given initial drone states. The performance of the system is evaluated for two landing strategies, variously controllers parameters and four level of wind intensities. The results show that a two-stage landing strategies offers higher probabilities of landing success and give insight regarding the best controller parameters and the maximum wind level for which the system is robust. Lastly, an experimental demonstration of the system landing autonomously on a power line is presented.