基于双向RRT改进算法的电力线路无人机巡检路径规划研究

Research on Path Planning for Power Line UAV Inspection Based on Improved Bidirectional RRT Algorithm

电力线巡检开始引入巡检效率高、应用成本低的无人机巡检技术,但无人机巡检需要合理配置巡检路径。为有效增强无人机巡检路径规划效果,本文基于无人机电力线巡检路径规划问题和双向RRT算法的基本原理,结合人工势场介绍一种双向RRT改进算法,用于解决双向RRT算法存在的随机性和计算量均相对较大的问题,从而提高算法寻优精度和加快路径规划速度。此外,通过仿真分析方法进行RRT算法、双向RRT算法、双向RRT改进算法的实验对比,实验结果证明,双向RRT改进算法具有更强的应用优势。

The introduction of unmanned aerial vehicle(UAV)inspection technology with high inspection efficiency and low application cost for power line inspection has begun.However,UAV inspection requires reasonable configuration of inspection paths.To effectively enhance the effectiveness of UAV inspection path planning,this paper will introduce an improved bidirectional RRT algorithm based on the UAV power line inspection path planning problem and the basic principle of bidirectional RRT algorithm,combined with artificial potential fields,used to improve the randomness and relatively high computational complexity of the bidirectional RRT algorithm,thereby improving the algorithm's optimization accuracy and accelerating path planning speed.In addition,experiments were conducted to compare the RRT algorithm,bidirectional RRT algorithm,and bidirectional RRT improved algorithm using simulation analysis methods.The experimental results showed that the bidirectional RRT improved algorithm has stronger application advantages.