无人直升机电力线路巡检自动航迹优化

Unmanned helicopter route planning and optimization for power line inspection

针对目前关于无人直升机的航迹布设研究大多是讨论从起始点到目标点的,而复杂地形条件下的超低空电力线路巡检还没有一套完整的航迹布设方案这一问题,该文在充分考虑无人直升机性能、传感器参数、任务要求以及电力线路巡检过程中应注意问题的基础上,提出了针对无人直升机超低空电力线巡线的自动航迹布设及优化方案,并系统阐述了航迹分段布设、航迹平滑、航迹异常检测和优化等关键技术算法。实验结果表明,该方案可以为无人直升机进行超低空的电力线巡线设计出安全、可靠的航迹。

A lot of research has been done at home and abroad, but most of them are laying optimal path from the starting point to the target point, there is not a complete set of design theory and methods for the power line inspection when unmanned helicopter flies at super low space in a complex terrain. Fully considering the unmanned helicopter performance, sensors parameters mission requirements and problems should be paid attention to during the process of electric power line inspection, a solution of unmanned helicopter track laid for the power line inspection at super low space and the key technologies which include seg- mented laying track, track smoothing and track anomaly detecting were presented in this paper in detail. Experiments showed that the scheme for unmanned helicopter used patrol of power lines to a low-space track designing was safe and reliable.