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考慮無(wú)人機桿塔巡視避障的兩階段路徑優(yōu)化
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國家自然科學(xué)基金項目(面上項目,重點(diǎn)項目,重大項目)


Two-stage Path Optimization of UAV's Patrol on Transmission Towers Considering Obstacle Avoidance
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    摘要:

    對于無(wú)人機在輸電線(xiàn)路桿塔精細化巡視的路徑規劃問(wèn)題,提出了對桿塔巡視路徑和桿塔間避障路徑的兩階段優(yōu)化策略。針對利用傳統旅行商問(wèn)題(TSP)求解桿塔巡視路徑,在多項式時(shí)間無(wú)法求得全局最優(yōu)解問(wèn)題,研究了基于雙調歐幾里得TSP求解桿塔最優(yōu)巡視路徑的優(yōu)化數學(xué)模型,以及基于動(dòng)態(tài)規劃算法的求解方法。在此基礎上,進(jìn)一步基于人工勢場(chǎng)法建立了避開(kāi)巡視路徑障礙最優(yōu)路徑的優(yōu)化模型及其求解方法。仿真結果表明,利用雙調歐幾里得TSP確定的巡視路徑具有偏轉角小、最優(yōu)路徑求解時(shí)間短的特點(diǎn),利用所提兩階段優(yōu)化策略確定的巡視路徑長(cháng)度較短且能有效避開(kāi)障礙,有利于實(shí)現無(wú)人機安全高效巡視桿塔的目標。

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    For the path planning problem of UAV's patrol on transmission line towers, presents a two-stage optimization strategy for the patrol path between towers considering obstacle avoidance. Think of the path optimization problem as TSP problem and compare the performance of dynamic programming algorithm and simulated annealing algorithm in solving the problem. Compared with the traditional heuristic algorithm, it is more suitable for tower patrol path optimization. At the same time, the artificial potential field method is used to solve the obstacle avoidance problem of UAV’s patrol between towers, and a complete path of UAV fine patrolling towers is obtained. The simulation results show that the dynamic programming algorithm has shorter running time and plans path with smaller deflection angle. Also, path length obtained by the two-stage optimization strategy is short and can effectively avoid obstacles, which is conducive to achieving the goal of safe and efficient UAV automatic patrol.

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李朝欽,彭曉濤.考慮無(wú)人機桿塔巡視避障的兩階段路徑優(yōu)化計算機測量與控制[J].,2019,27(4):159-162.

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歷史
  • 收稿日期:2018-10-08
  • 最后修改日期:2018-10-08
  • 錄用日期:2018-11-03
  • 在線(xiàn)發(fā)布日期: 2019-04-26
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