Detecting and estimating distances to power lines is a challenge for both human UAV pilots and autonomous systems, which increases the risk of unintended collisions. We present a mmWave radar-based perception system that provides spherical sensing coverage around a small UAV for robust power line detection and avoidance. The system integrates multiple compact solid-state mmWave radar modules to synthesize an omnidirectional field of view while remaining lightweight. We characterize the sensing behavior of this omnidirectional radar arrangement in power line environments and develop a robust detection-and-avoidance algorithm tailored to that behavior. Field experiments on real power lines demonstrate reliable detection at ranges up to 10 m, successful avoidance maneuvers at flight speeds upwards of 10 m/s, and detection of wires as thin as 1.2 mm in diameter. These results indicate the approach's suitability as an additional safety layer for both autonomous and manual UAV flight.

翻译：检测并估算与电力线的距离对于无人机人工操控员和自主系统均构成挑战，这增加了意外碰撞的风险。本文提出一种基于毫米波雷达的感知系统，可为小型无人机提供球形环绕的传感覆盖，实现鲁棒的电力线检测与避撞。该系统集成多个紧凑型固态毫米波雷达模块，在保持轻量化的同时合成了全向视场。我们分析了该全向雷达配置在电力线环境中的传感特性，并针对该特性开发了鲁棒的检测与避撞算法。在真实电力线上的实地实验表明，系统可在最远10米距离实现可靠检测，在飞行速度超过10米/秒时成功执行避撞机动，并能检测直径细至1.2毫米的线缆。这些结果表明该方法适合作为自主与手动无人机飞行的附加安全层。