Research On Path Planning Of Flying Robot For Power Tower Inspection Based On Safety Space Model

It will be a tread that using the flying robots inspection for the power tower which satisfies the need of fast, accurate, safe and low-cost power tower inspection. Rotor flying robot has already been used for its characteristics of fixed hover, vertical take-off and security flying automatically. The quality of the collected image data of the power tower determines the success of the inspection. However, there are several constrains when it comes to inspecting with rotor flying robot. For example, the mandatory secure distance, obstacle disturbance, the limited flight time and so on. To solve these constrains, this paper presents a novel path planning method based on hierarchical strategy for flying robots inspecting power tower.This paper researches an unmanned aerial system based on the rotor flying robot, by analyzing the structure of the power tower, the paper construct a safety space around the power tower in which the safety of flying robot can be guaranteed, and the paper divide the inspection into line corridor inspection and power tower inspection.Firstly, On the basis of the tasks for power tower inspection, this paper presents a path planning method in three-dimensional environment based on improved RRT algorithm for flying robot, there are two scenarios of interest for path planning:2D path planning and 3D path planning, considering the maneuverability of flying robot and unnecessary waypoints which cause wavy motions, a collision free path is generated using a biased-greedy rapidly exploring-random tree; then the safety space and some target viewing regions are defined based on the model of the power tower. The impact caused by stochastic interferences is considered, the local path is planned in the target viewing regions using reinforcement learning, and an improved genetic algorithm is adopted to search the optimal inspection sequence of the target viewing regions, the final path for power tower inspection is found according to the hierarchical strategy; Finally, a visual simulation system of flying robot for power tower inspection based on OGRE is designed in this paper, which is used to present the flight trajectory of flying robot.