Research on Hierarchical Motion Planning Method for UAV Substation Inspection

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

Abstract

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:

TP391.9

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

Figures/Tables 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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