输电线路无人机自主巡检航迹优化研究

Research on UAV Autonomous Patrol Track Optimization of Transmission Line

为提高巡检数据的可行性和精度,开展了输电线路无人机自主巡检航迹优化研究。在确定巡检航迹规划约束条件的基础上,建立巡检航迹的表达式及目标函数,生成最优巡检航迹路线,提出一种全新的航迹优化方法。按照优化方法的思路,将优化前后无人机巡检航迹应用到真实环境中进行对比,结果显示优化后的无人机巡检航迹能覆盖该区域中所有需检测的待检测点,可有效提高巡检数据精度,并进一步实现输电线路无人机智能巡检标准化作业。

In order to improve the feasibility and accuracy of patrol data,the research on autonomous patrol track optimization of transmission line UAV is carried out.The constraints of patrol track planning is determined.On this basis,the expression and objective function of patrol track are established,the optimal patrol track route is generated,and a novel track optimization method is proposed.According to the idea of optimization method,the patrol track of UAV before and after optimization is applied to the real environment for comparison.The results show that the optimized UAV patrol track can cover all the points to be detected in the area,effectively improve the accuracy of patrol data,and further realize the standardized operation of intelligent patrol of transmission line UAV.