Visual inspection model of UAV cluster based on improved pigeon flock hierarchy

doi:10.16182/j.issn1004731x.joss.21-1121

Abstract

Abstract:

Aim at UAV being vulnerable to the environmental interference and the low efficiency of the traditional single-person-UAV model in the transmission line inspection, a visual inspection model for the power line by UAV is proposed based on the improved pigeon flock hierarchy. The initial landmark point of the UAV is generated based on GPS coordinates of the aircraft-carrying vehicle and the tower to be inspected, and the movement trajectory is planned. The return point of the UAV is used to update the initial landmark of onward UAV, which realizes the dynamic handover between the work-exchanging UAV, and the landmark point is optimized. An advanced adaptive template matching algorithm is adopted to improve the adaboost visual recognition of the patrol UAV, which can autonomously adjust the relative position between UAV and the line by adaptively comparing the line spacing. Experimental results show that the proposed model improves the inspection time in the air by 12% and the distance by 27.5% in terms of inspection efficiency, and the quality of the inspection under the conditions of wind blows and terrain changes increase by 21% and 15% respectively.

Key words: UAV transmission line inspection, improved pigeon hierarchy algorithm, improved Adaboost, visual recognition

CLC Number:

TP391.9

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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Table 1

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算法	无风/有风
算法	线路巡检距离/km	线路识别率/%
本文	5.6/4.7	100/96
A	5.9/4.8	85/72.4
SURF	6.6/5.4	79/55
SVM	6.2/5.1	96/80
V	4.9/3.9	100/97

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