变电站巡检无人机分层运动规划方法研究

doi:10.16182/j.issn1004731x.joss.22-0519

摘要/Abstract

摘要：

为提升无人机变电站巡检作业的效率与质量，提出一种基于前端路径搜索和后端轨迹生成的巡检无人机分层运动规划方法。前端基于改进A*算法进行路径规划，通过改进启发函数和约束节点扩展方向，提高规划速度和减少路径转弯。后端提出一种结合路径点筛选的snap最小化轨迹优化方法，生成有利于无人机巡检跟踪的平滑轨迹。仿真试验结果表明，改进的前端路径规划方法能够更快地获得转弯更少的飞行路径，结合关键点筛选的后端轨迹优化能够生成时间更短的飞行轨迹。跟踪后端优化轨迹可以获得比路径跟踪更高的跟踪精度，有利于保障无人机在巡检过程中的飞行安全与飞行稳定。

关键词: 无人机, 变电站巡检, 改进A*, 路径点筛选, 轨迹优化

Abstract:

In order to improve the efficiency and quality of unmanned aerial vehicle (UAV) substation inspection, ahierarchical motion planning method for UAV inspection based on front-end path search and back-end trajectory generation is proposed. At the front end, an improved A* algorithm is proposed to increase the planning speed and reduce the path turnings by constraining the direction of node expansion and modifying the heuristic function. At the back end, a minimum-snap trajectory optimization combined with the waypoint filtering method is proposed to generate a smooth trajectory that is beneficial for UAV inspection and tracking. The simulation results show that the improved front-end path planning method can obtain the flight path with fewer turns in less computation time, and the back-end trajectory optimization combined with the key point filtering can generate the trajectory with shorter flight time. Tracking the trajectory by the back-end optimization can provide higher tracking accuracy than path tracking, which is helpful to ensure the flight safety and stability of the UAV during the inspection process.

Key words: UAV, substation inspection, improved A*, waypoint filtering, trajectory optimization

中图分类号:

TP391.9

焦嵩鸣,首云锋,白健鹏等 . 变电站巡检无人机分层运动规划方法研究[J]. 系统仿真学报, 2023, 35(9): 1975-1984.

Jiao Songming,Shou Yunfeng,Bai Jianpeng,et al . Research on Hierarchical Motion Planning Method for UAV Substation Inspection[J]. Journal of System Simulation, 2023, 35(9): 1975-1984.

图/表 14

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编号	检测点坐标	编号	检测点坐标
1	(-4.5, -3, 5)	7	(-4.5, -26.5, 5)
2	(-17, -3, 5)	8	(-17, -26.5, 5)
3	(-17, -22, 5)	9	(-17, -35.5, 5)
4	(-4.5, -22.5, 5)	10	(-4.5, -35.5, 5)
5	(9, -22.5, 5)	11	(9, -35.5, 5)
6	(9, -26.5, 5)	12	(9, -3.5, 5)

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