基于改进人工势场法电力巡检无人机航迹规划

Electric Patrol Drone Trajectory Planning Based on Improved Artificial Potential Field

论文中结合无人机在电力巡检中的应用以及无人机巡线的方式,引入了理想巡检路径,提出了一种基于人工势场的无人机航迹规划避障的改进算法;根据电力巡检无人机的应用场景对势函数进行了调整,并且引入无人机在理想航迹投影点的引力场,当无人机陷入U型障碍物时调整无人机对障碍物感知的范围,使无人机摆脱U型障碍物。该改进算法不仅可以提高无人机巡线的效率,也可以解决部分局部极小问题。最后通过二维平面轨迹规划问题的数学仿真,验证了该方法的有效性。

In this paper,the application of UAV in electric power inspection and the way of UAV inspection are introduced.The ideal inspection path is introduced.An improved algorithm for obstacle avoidance of UAV path planning based on artificial po⁃tential field is proposed.According to the application scenario of the power inspection UAV,the potential function is adjusted,and the gravitational field of the UAV at the ideal track projection point is introduced.When the UAV is trapped in the U-shaped obsta⁃cle,the UAV is adjusted to the obstacle perception.The range allows the drone to get rid of U-shaped obstacles.The improved algo⁃rithm can not only improve the efficiency of the drone line,but also solve some local minimum problems.Finally,the effectiveness of the proposed method is verified by the mathematical simulation of the two-dimensional planar trajectory planning problem.