Autonomous UAV System for Cleaning Insulators in Power Line Inspection and Maintenance

. 2021 Dec 20;21(24):8488. doi: 10.3390/s21248488

Algorithm 1 Algorithm to obtain the optimal joints to hit the target.

1:
$T a r g e t P o i n t^{c a m e r a} \leftarrow C l e a n i n g Z o n e D e t e c t i o n (R G B, D e p h)$
2:
$T a r g e t P o i n t^{t o o l} \leftarrow T r a n s f o r m T o T o o l (T a r g e t P o i n t^{c a m e r a})$
3:
$M i n D i s t a n c e \leftarrow 0.5 m$
4:
for $θ_{0}^{i} = M i n (θ_{0})$ to $M a x (θ_{0})$ do
5:
for $θ_{1}^{j} = M i n (θ_{1})$ to $M a x (θ_{1})$ do
6:
$J o i n t s \leftarrow (θ_{0}^{i}, θ_{1}^{j})$
7:
$W o r k S p a c e P o i n t \leftarrow D i r e c t K i n e m a t i c (J o i n t s)$
8:
$P o i n t^{t o o l} \leftarrow F l u i d T r a j e c t o r y (W o r k S p a c e P o i n t)$
9:
$D i s t a n c e \leftarrow (T a r g e t P o i n t^{t o o l}, P o i n t^{t o o l})$
10:
if $D i s t a n c e < M i n D i s t a n c e$ then
11:
$M i n D i s t a n c e \leftarrow D i s t a n c e$
12:
$F i n a l J o i n t s \leftarrow J o i n t s$