考虑无人机杆塔巡视避障的两阶段路径优化

Two-stage Path Optimization of UAV's Patrol on Transmission Towers Considering Obstacle Avoidance

对于无人机在输电线路杆塔精细化巡视的路径规划问题,提出了对杆塔巡视路径和杆塔间避障路径的两阶段优化策略;针对利用传统旅行商问题(TSP)求解杆塔巡视路径,在多项式时间无法求得全局最优解问题,研究了基于双调欧几里得TSP求解杆塔最优巡视路径的优化数学模型,以及基于动态规划算法的求解方法;在此基础上,进一步基于人工势场法建立了避开巡视路径障碍最优路径的优化模型及其求解方法;仿真结果表明,利用双调欧几里得TSP确定的巡视路径具有偏转角小、最优路径求解时间短的特点,利用所提两阶段优化策略确定的巡视路径长度较短且能有效避开障碍,有利于实现无人机安全高效巡视杆塔的目标。

For the path planning problem of UAV’s patrol on transmission line towers,presents a two-stage optimization strategy for the patrol path between towers considering obstacle avoidance.Think of the path optimization problem as TSP problem and compare the performance of dynamic programming algorithm and simulated annealing algorithm in solving the problem.Compared with the traditional heuristic algorithm,it is more suitable for tower patrol path optimization.At the same time,the artificial potential field method is used to solve the obstacle avoidance problem of UAV’s patrol between towers,and a complete path of UAV fine patrolling towers is obtained.The simulation results show that the dynamic programming algorithm has shorter running time and plans path with smaller deflection angle.Also,path length obtained by the two-stage optimization strategy is short and can effectively avoid obstacles,which is conducive to achieving the goal of safe and efficient UAV automatic patrol.