Drone-based power-line tracking system

Jongmin Jeong, Jaeseung Kim, Tae Sung Yoon, Jin Bae Park

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


In recent years, a study of power-line inspection using an unmanned aerial vehicle (UAV) has been actively conducted. However, relevant studies have been conducting power-line inspection with an UAV operated by manual control, and they have developed just power-line detection algorithm on aerial images. To overcome limitations of existing research, we propose a drone-based power-line tracking system in this paper. The main contributions of this paper are to operate developed system under configured environment and to develop a power-line detection algorithm in real-time. Developed system is composed of the power-line detection and the image-based tracking control. To detect a power-line in real-time, a region of interest (ROI) image is extracted. Furthermore, clustering algorithm is used in order to discriminate the power-line from background. Finally, the power-line is detected by using the Hough transform, and a center position and a tilt angle are estimated by using the Kalman filter to control a drone smoothly. We design a position controller and an attitude controller for image-based tracking control, and both controllers are designed based on the proportional-derivative (PD) control method. The interaction between the position controller and the attitude controller makes the drone track the power-line. Several experiments were carried out in environments where conditions are similar to actual environments, which demonstrates the superiority of the developed system.

Original languageEnglish
Pages (from-to)773-781
Number of pages9
JournalTransactions of the Korean Institute of Electrical Engineers
Issue number6
Publication statusPublished - 2018 Jun

Bibliographical note

Publisher Copyright:
Copyright © The Korean Institute of Electrical Engineers.

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


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