Research On Motion Planning Of Flying Robot For Overhead Powerline Inspection Based On Dynamic Model

This paper concentrates on the research on motion planning of Flying Robot for Overhead Powerline Inspection(FROPI).Firstly,under the study on the model of robot motion planning,the two matrixs of FROPI are definitied and their conversion matrix and the dynamic model of FROPI were presented.Then,based on the study of the RRT_Connect,the comparison experiments of them are maked because of the faults of Rapidly-exploring Random Trees(RRT).And then,a new method is presented and the corresponding experiments are maked by the connection of the dynamic model of FROPI and RRT.Finally,the theory of this connection is used to the experiments of FROPI trajectory tracking and motion planning that is carried out unedr the obstacles environment.The results of the experiments validate the connection methods.In the end, after summing up the whole paper,it is prospected the further research on the topic.