Research On Path Planning For Flying Robot For Overhead Powerline Inspection Based On Partitioning

This paper concentrates on the research on path planning of flying robot for overhead powerline inspection Based on Partitioning. Firstly, the information flow of mission planning system framework is designed and complied and the mission planning system is decomposed by using the tiered methods. It chooses the Multi-Agent technology to solve the mission planning issue. Secondly, the improved particle swarm optimization for flying robot for overhead powerline inspection is used to resolve the global path planning issue. Thirdly, a trajectory generation method for flying robot for overhead powerline inspection based on the MDP model is researched. It accords with the restrictions of moving parameters of the robot. At last, a simulation tools is used, on which all methods addressed in this paper are verified. The results of the experiments validate that the methods are validity and advantage.