系统仿真学报 ›› 2022, Vol. 34 ›› Issue (6): 1275-1285.doi: 10.16182/j.issn1004731x.joss.21-1121
收稿日期:
2021-11-03
修回日期:
2021-12-27
出版日期:
2022-06-30
发布日期:
2022-06-16
通讯作者:
崔昊杨
E-mail:2532080998@qq.com;CuiLab_shiep@163.com
作者简介:
陈麒(1980-),男,硕士,副教授,研究方向为自动化与嵌入式。E-mail:基金资助:
Received:
2021-11-03
Revised:
2021-12-27
Online:
2022-06-30
Published:
2022-06-16
Contact:
Haoyang Cui
E-mail:2532080998@qq.com;CuiLab_shiep@163.com
摘要:
为解决无人机在执行输电线路巡检工作过程中易受环境干扰,以及传统单人单机工作模式巡检效率低下等问题,提出基于改进鸽群层级算法的无人机集群视觉巡检模型。根据载机车辆与待检塔位的GPS坐标计算出启航无人机的初始地标点,并规划运动轨迹;根据当前在巡无人机结束巡检点的位置更新待起飞无人机初始地标,实现启航与在巡无人机巡检地标的动态衔接,完成对地图指南针算子的改进;利用改进的自适应模板匹配算法优化在巡无人机的Adaboost视觉识别系统,通过自适应比对线路间距实现无人机与输电线路间相对位置的自主调整,在动态调节姿态的基础上提高检测质量。实验结果表明:相比于传统鸽群方法,该模型在巡检效率方面的在空巡检时间提高了12%、巡检距离提高了27.5%,风吹、地形变化的情况下巡线质量相比于常规识别模型分别提高了21%和15%。
中图分类号:
陈麒, 崔昊杨. 基于改进鸽群层级的无人机集群视觉巡检模型[J]. 系统仿真学报, 2022, 34(6): 1275-1285.
Qi Chen, Haoyang Cui. Visual inspection model of UAV cluster based on improved pigeon flock hierarchy[J]. Journal of System Simulation, 2022, 34(6): 1275-1285.
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