Research On Path Planning Technology Of UAV Inspection For Transmission Tower

As an efficient and clean production energy,electric energy plays avery important role in social and economic development.In order to improve the power supply capacity,China's power industry in the situation of reform and opening up,not only the rapid increase in power generation capacity,but also greatly improved transmission capacity,making electricity consumption and social economy closely integrated,and gradually formed a pattern of high supply and high consumption..In China's power construction and high-increment development mode of power supply,laying a solid foundation for China's economic development,there are also many problems in the development of power,such as the maintenance of power lines in the modernization process of power construction.The maintenance work is still at the traditional level of development,and the heavy workload of maintenance work has placed a great burden on the power operation and maintenance personnel.It is extremely urgent to improve the modern management level of the power line.In response to this problem,this paper studies the inspection and maintenance work in the power tower.First of all,this paper analyzes the fault type for the transmission tower.In different grades of transmission lines,transmission towers often have different types and different functions,which makes the inspection work more complicated.This paper discusses the types of transmission towers,their functional characteristics,analyzes the types of faults that may occur,and proposes the location and method for detecting different faults.Secondly,the establishment of the drone model is analyzed.For the flight characteristics of quadrotor UAV,two different dynamic model establishment methods of quadrotor UAV are discussed,and the dynamics model of quadrotor UAV is established in Newton-Eulerian equation in ROS environment.The position control subsystem and the attitude control subsystem are designed.The control simulation of the quadrotor UAV in ROS proves the feasibility of the control system design.Then,the sample-based path planning method is analyzed.Through the shortcomings in the three-dimensional space search,it is indicated that the path they searched in the three-dimensional space is not friendly to the quadrotor drone,and the algorithm needs to be improved and the improvement is needed.The RRT algorithm performs well in low-dimensional and high-dimensional spaces,but the path is very complicated.The dual-tree-linked RRT algorithm greatly improves the efficiency of searching by constructing two search trees in space.The path searched by the RRT* algorithm for the RRT algorithm is not optimized,and the planned path is continuously optimized,and finally the suboptimal path can be found.Finally,the improved algorithm path planning analysis is carried out in the simulation environment of the transmission tower.Aiming at the problem that the quadrotor UAV is not trackable in the RRT algorithm planning path,an improved RRT algorithm is proposed,and the path planning and trajectory tracking simulation test in the transmission tower environment is carried out in the ROS environment.The improved algorithm not only allows the algorithm's extension process to progress step by step in height,but also optimizes the path and finds a feasible path in a narrow space.