基于RRT算法的桥检无人机航线规划仿真系统设计

Design of Bridge Inspection UAV Route Planning Simulation System Based on RRT Algorithm

为了提升桥梁病害检测无人机航线规划仿真能力,能方便高效地进行航线规划仿真研究,设计了一套基于RRT (Rapid-exploration Random Tree)快速扩展随机树算法的航线规划仿真系统。该系统包含了环境模块,算法模块以及GUI模块,可实现对桥梁环境进行转换和利用GUI进行算法调参,简化仿真环节,直观规划过程。最后通过实验仿真验证,证实其方便快捷,可满足航线规划研究需要。

In order to improve the route planning simulation capability of the bridge disease inspection UAV and conduct route planning simulation research conveniently and efficiently, a route planning simulation system based on the RRT (Rapid-exploration Random Tree) algorithm is designed. The system includes environment module, algorithm module and GUI module, which can modify the bridge environment and adjust the algorithm using GUI to simplify the simulation process and realize the visualization of the planning process. Finally, it is verified by experimental simulation that the system is convenient, fast and meets the needs of route planning research.