  In this study, a novel technique for the autonomous visual inspection of
rotating wind turbine rotor blades utilizing an unmanned aerial vehicle (UAV)
was developed. This approach addresses the challenges presented by the dynamic
environment at hand and the requirement of maintaining a safe distance from the
moving rotor blades. The application of UAV-based inspection techniques
mitigates these dangers and the expenses associated with traditional wind
turbine inspection methods which involve halting normal wind farm operations.
  Our proposed system incorporates algorithms and sensor technologies. It
relies on a light detection and ranging (LiDAR) sensor system, an inertial
measurement unit, and a GPS to accurately identify the relative position of the
rotating wind turbine with respect to the UAV's own position. Once this
position is determined, a non-destructive visual analysis of the rotating rotor
blades is performed by generating a suitable trajectory and triggering a camera
fitted on a gimbal system as the blades approach. This new technique, built
upon the existing research on UAV inspection of rotating wind turbines, has
been empirically validated using data collected from real-world wind farm
applications. This article contributes to the ongoing trend of enhancing the
safety and efficiency of infrastructure inspection. It also presents a good
base for future research, with potential applications for other types of
infrastructure, such as bridges or power lines.
