Research On Path Planning Method Of Flying Robot For Overhead Powerline Inspection

This paper concentrates on the research on path planning method of Flying Robotfor Overhead Powerline Inspection (FROPI). Firstly, a modified method for completepath planning is introduced, which is based distance transform and security control. Then,the paper describes a method for generating a continuous smooth path for FROPI in 3Dpath planning, using symmetric clothoid curve to make sure the linear path velocity andangular speed are both changed gradually. And then, a local path planning method basedHeuristic-Exploring Distance Transform is presented. The method can drive FROPIsafely moving in unknown dynamic environment. And then, a emluator is designed toprove the feasibility and validity of these algorithms. In the end, the important resultsand conclusions of this dissertation are summarized, and further research on topic isproposed.