Design And Realization Of The Path Planning System For The Power Line Inspection Ouadrotor Aircraft

The network of high-voltage transmission lines covers a wide area with complex terrain and terrible natural environment,therefore the regular maintenance for transmission lines is neccesary.At present,the most widely used line inspection method is to check the lines on site by human regularly.This method is labor-intensive and inefficient,it can’t cover the lines which located in remote areas.The development of UAV technology provides a new method to inspect the transmission lines.This thesis presents the design of an autonomous navigation and path planning system for UAV used in transmission line inspection,and its implementation in ground control system.This thesis will first describe the compositon and overall scheme of the autonomous navigation and path planning system.The system is mainly composed of ground control station,line-patroling aircraft and remote communication system based on GPRS.The hardware and software architecture of ground control station and cruise line aircraft are introduced respectively.Secondly,this thesis descrides the design of the path planning system.The path planning system is the key to UAV’s automatic path planning function.For a given set of obstacle points or waypoints,the planning system uses the Voronoi diagram to calculate the available paths.After using a certain filtering algorithm,the system uses the Dijikstra algorithm to search the path set until the optimal flight path for UAV is found.Then this thesis introduces the hardware and software design and implementation of the remote wireless communication system based on TCP/IP protocol and GPRS technology.The ground station control system will communicate with the UAV which equips with a GPRS module through the wireless mobile communication network and internet.Also some specific communication protocols and processes are implemented in the system to ensure the data interaction is reliable.Then this thesis will describe the overall design scheme and concrete software realization of the ground station control system.The ground station control system integrates all the above systems,including subsystems such as logging,wireless communication,aircraft control and mission control,history path tracing and malfunction information storage.The software system is implemented by Python.It provides a visual interface based on Qt for the control personnel to operate,with the realtime display and annotation of the UAV’s informations based on electronic map provided by Baidu map.At last,this thesis summarizes the value and innovations of the research,and put forward the existing system problems and future direction of improvement.