面向电力设备检修的多无人机协同飞行路径规划算法

Multi-unmanned Aerial Vehicle Cooperative Flight Path Planning Algorithm for Power Equipment Maintenance

多无人机异地起飞且需要同时到达集结点的飞行任务中,出现到达时间差、路径规划耗时长等问题,设计一种多无人机协同飞行路径规划算法。利用栅格图法结合坐标系转换,对多无人机协同飞行建模,确定无障碍路径并利用坐标系来描述多无人机的飞行路径规律,为保证多无人机同时到达集结点,根据时间协同平衡无人机线路的长短,将非线性问题进行转化求解,完成面向电力设备检修的多无人机协同飞行路径规划算法的设计。实验结果表明,本文算法得到的飞行路径规划方案中,三架无人机之间的飞行路径最大长度差为31.4 m,与原算法相比缩短了94.7 m,能够同时到达目的地,其路径规划耗时更短,有效提高无人机飞行的精度和性能。

When multiple drones take off from different places and need to arrive at the assembly point at the same time, problems such as the arrival time difference and the long time-consuming path planning appear. A multi-UAV cooperative flight path planning algorithm is designed. We use the raster map method to combine with coordinate system conversion to model the coordinated flight of multiple drones, determine the barrier-free path and use the coordinate system to describe the flight path law of multiple drones, in order to ensure that multiple drones reach the assembly point at the same time. According to the coordinated balance of the length of the UAV line according to the time, the nonlinear problem is transformed and solved, and the design of the multi-UAV cooperative flight path planning algorithm for the maintenance of power equipment is completed. The experimental results show that in the flight path planning scheme obtained by the algorithm in this paper, the maximum flight path length difference between the three UAVs is 31.4 m, which is 94.7 m shorter than the original algorithm. It can reach the destination at the same time, and its time is shorter, which effectively improves the accuracy and performance of UAV flight.