无4G网络覆盖区域无人机自主精细化巡检方法

Autonomous fine inspection method of UAV in no 4G network coverage area

传统的无人机巡检方法易受到冗余航点影响,导致巡检结果不精准的问题。为此,针对无4G网络覆盖区域,提出了一种新的无人机自主精细化巡检方法。在对无人机搜索的整个空间范围信息进行离散化处理后,在三维空间栅格化坐标系中标记航迹点。构建自主精细化巡检航迹规划模型,采用道格拉斯-普克算法剔除冗余航迹点,从而设计巡检航迹规划流程,得到平滑巡检航迹。该方法还通过计算无人机与障碍物的相对速度斥力,解决无人机巡检过程的避障问题。由试验结果可知,该方法航迹线与标准航迹线一致,说明该方法得到的自主精细化巡检结果精准。

The traditional UAV inspection method is susceptible to the impact of redundant waypoints,resulting in inaccurate inspection results.Therefore,a new UAV autonomous fine inspection method is proposed for areas without 4G network coverage.After discretization of the whole spatial range information of UAV search,track points are marked in the rasterized coordinate system of 3D space.An independent refined patrol track planning model was built,and Douglas⁃Puke algorithm was used to eliminate redundant track points,so as to design the patrol track planning process and obtain smooth patrol track.The method also solves the obstacle avoidance problem by calculating the velocity repulsion between UAV and obstacle.According to the test results,the track path of this method is consistent with the standard track,indicating that the independent fine inspection result obtained by this method is accurate.