The Research And Application Of Path Planning For UAV Inspection Transmission Line

UAV inspection efficiency for Transmission line is closely related to flight paths,different UAV models are suitable for different inspection tasks, and path planningrequirements are also different. In this paper, takes UAV inspection of transmission linesas the research object, the following research work has been done:Analysis the research status and key technologies of transmission line UAVinspection, divided the inspection into the line corridor inspection tower inspection, andsummarized the UAV inspection processes.According to the requirements of line corridor mission inspection and UAVperformance parameters, this paper established mathematical model and the objectivefunction of inspection path. Then Devised a Polar coded way to solve the limiting ofbiggest path deflection angle, the minimum step size and maximum number of nodes inthe path. Genetic Algorithm is used to solve the overall inspection paths, and thesimulation results show that the algorithm used in this paper could find the optimalinspection path.According to general shooting positions for tower inspection of multi-rotor UAV,designed a reasonable inspection path, and combined with a safe distance and cameraparameter to optimized shooting points and path. The practical application shows thatunder the precondition to ensure the completion of the inspection tasks the optimizedpartial path can not only shorten the patrol paths, but also reduced the number of photos,and mitigated the difficulty of manual image analysis and fault identification.Based on the tower inspection processes and inspection paths that summarized bythis paper, design and develop supporting software for UAV tower inspection. It canspecificity UAV operating procedure, and improve the efficiency and effectiveness ofinspection; furthermore, it can also help to reduce difficulty of manual fault identification.