Research On Trajectory Generation For Flying Robot For Overhead Powerline Inspection

This paper concentrates on the research on trajectory generation of flying robot for overhead powerline inspection.Firstly,the global path planning is researched in this paper,the path planning for mobile robot based on improved framed-quadtree is addressed,which can increase efficiency of path planning.Secondly,the shortest tangent path planning for mobile robot is used to resolve the local path planning.Thirdly,smooth trajectory method for flying robot for overhead powerline inspection based on k-trajectory algorithm is researched,it accords with the restrictions of moving parameters of robot on smooth trajectory,ensure the robot can fly security and steady and efficiency. At last,a simulation platform is designed,on which all methods addressed in this paper are verified.The results of the experiments validate the methods are validity and advantage.