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Research on Control Algorithm of Visual Servo Grasping Operating System for Unmanned Aerial Vehicle Robot Arm for Transmission Line Inspection

Shi Ru

Shi Ru

State Grid Heilongjiang Electric Power Company Limited Extrahigh Voltage CompanyHarbin, China
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Ru, Shi
, 
Bowen Zhang

Bowen Zhang

Northeast Branch of State Grid Corporation of ChinaShenyang, China
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Zhang, Bowen
, 
Jinfu Han

Jinfu Han

State Grid Heilongjiang Electric Power Company Limited Extrahigh Voltage CompanyHarbin, China
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Han, Jinfu
, 
Bo Guan

Bo Guan

State Grid Heilongjiang Electric Power Company Limited Extrahigh Voltage CompanyHarbin, China
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Guan, Bo
 and 
Wei Yang

Wei Yang

State Grid Heilongjiang Electric Power Company Limited Extrahigh Voltage CompanyHarbin, China
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Yang, Wei
  
Sep 22, 2025
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Published Online: Sep 22, 2025
Received: Jan 12, 2025
Accepted: Apr 25, 2025
DOI: https://doi.org/10.2478/amns-2025-0955
Keywords
© 2025 Shi Ru et al., published by Sciendo
This work is licensed under the Creative Commons Attribution 4.0 International License.

Figure 1.

PBVS basic process
PBVS basic process

Figure 2.

Distributed data fusion is the optimal position estimation
Distributed data fusion is the optimal position estimation

Figure 3.

Owa distributed data fusion process
Owa distributed data fusion process

Figure 4.

RRT algorithm planning
RRT algorithm planning

Figure 5.

RRT-Connect algorithm planning
RRT-Connect algorithm planning

Figure 6.

Search time
Search time

Figure 7.

Path length
Path length

Figure 8.

Error convergence curve
Error convergence curve

Figure 9.

Characteristic trajectory
Characteristic trajectory

The static clutter scene captures performance comparisons

Contrast model GSR SSR PE (cm) GPS
IBVS 0.49 0.69 0.34,1.87,0.36 0.845
Deep MPCVS 0.73 0.78 0.34,1.81,0.28 0.829
PID-IBVS 0.78 0.71 0.32,1.86,0.27 0.856
SIFT 0.78 0.84 0.25,1.84,0.27 0.913
KOVIS 0.91 0.90 0.23,1.49,0.34 0.956
This method 0.93 0.95 0.19,1.11,0.18 0.975
Language:
English
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Journal Subjects:
Life Sciences, Life Sciences, other, Mathematics, Applied Mathematics, General Mathematics, Physics, Physics, other
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