A Preliminary Study On The Path Planning Of Unmanned Aerial Vehicle For Bridge Detection

Commonly used bridge detection equipment such as bridge inspection car, because its own defects, the detection conditions of the restrictions, there is always some problems difficult to overcome and work efficiency low, in the detection of large span bridge is particularly evident.Unmanned aerial vehicle(UAV) has the advantages of small size, light weight, flexible use, high work efficiency, and so on. So, it can be used in some common bridge testing equipment is not suitable or cannot be performed tasks. At the same time, unmanned aerial vehicles have visual operation difficulty; the battery capacity is small, easily influenced by wind and other disadvantages. Therefore, how to improve the detection efficiency of unmanned aerial vehicles(UAV), flight safety is bridge detection unmanned aircraft systems face a real problem, one of the key technologies is reasonable planning of the flight path of the UAV.In this paper, the application background is bridge detection. On the bridge detection route planning for unmanned aircraft systems were be preliminarily studied. The main research works are:⑴ Analysis the key factors of UAV flight path planning from the aspects of environmental information, constraint conditions, bridge detection targets and path planner. The environmental information mainly includes two parts: the bridge model and the wind field analysis. The constraints include the longest battery life, flight speed, obstacles to the safe distance, the wind field camera distance.⑵ Traditional artificial potential field algorithm has three kinds of local minimum points, which may lead to the failure of flight path planning task. In this paper, using artificial potential field algorithm for UAV route planning, by increases at the appropriate point, that is, changing local minimum points of potential field, avoid local minima in route planning.⑶ The Pu Ba Rong bridge as an example, presentation of the second, three chapter mentioned the route planning system. First of all, I briefly analyzed the bridge wind field and the typical diseases of the same type of bridge. Second, use the software of Matlab to simulate the flight path of the two kinds of unmanned aerial vehicle(UAV), which is used to detect the bridge’s routine test(census) and bridge disease. Finally, analysis the feasibility of the planning track that can link the goal, effective, completely avoid obstacles, and can meet the time and other constraints.