无人机线路自主巡检的动态轨迹规划方法

Drone Autonomous Inspection Method for Transmission Line Based on Dynamic Trajectory Planning

为提高无人机巡检航迹精度,本文提出一种基于动态航迹优化规划的无人机输电线路自主巡检方法。首先,通过单目视觉测距确定无人机巡线安全距离;然后,基于全局静态航迹中的静、动态突发威胁,建立动态航迹规划模型,通过改进双向快速扩展随机树算法对航迹实现动态优化规划;最后,设计无人机自主巡检系统流程,完成自主巡检的全路程作业。实际应用表明,该系统可以提高无人机巡检精度、效率并降低巡检成本。

To improve the accuracy of drone inspection trajectory,a drone autonomous inspection method for transmis⁃sion line is proposed in this paper,which is based on dynamic trajectory planning.First,the safety distance of drone pa⁃trol is determined by monocular visual ranging.Second,based on the static and dynamic emergent threats in the global static trajectory,a dynamic trajectory planning model is established,and the dynamic optimal planning of the trajectory is realized using the improved two-way rapidly-exploring random tree algorithm.Finally,the process of drone autono⁃mous inspection system is designed to complete the full journey operation of autonomous inspection.The results in prac⁃tical applications show that the proposed system can improve the accuracy and efficiency of drone inspection while reducing the inspection costs.