Journal of System Simulation ›› 2023, Vol. 35 ›› Issue (9): 1975-1984.doi: 10.16182/j.issn1004731x.joss.22-0519

• Papers • Previous Articles     Next Articles

Research on Hierarchical Motion Planning Method for UAV Substation Inspection

Jiao Songming(), Shou Yunfeng, Bai Jianpeng, Wang Zhu()   

  1. Department of Automation, North China Electric Power University, Baoding 071003, China
  • Received:2022-05-18 Revised:2022-06-30 Online:2023-09-25 Published:2023-09-19
  • Contact: Wang Zhu E-mail:jiaosongming@ncepu.edu.cn;wangzhubit@163.com

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

CLC Number: