Research On An Intelligent Mobile Platform Equipped With Gas Detection Device

In order to solve the problem that the existing industrial gas pipeline leakage detection methods can not meet the current actual production needs,this paper uses a high-flexibility and high-reliability four-rotor unmanned aerial vehicle equipped with a gas detection device for inspection work,and according to the aircraft's working environment and the control characteristics of the system are studied for the design of the controller and path planning to improve the stability and inspection efficiency of the system.Aiming at the design problem of the UAV controller,firstly,we set up a mathematical model based on the flying principle of the quadrotor;secondly,the PID(Proportional Integral Derivative)control algorithm combined with the model is used to design the controller which is inner and outer ring structure as a closed-loop control strategy;finally,a predetermined trajectory tracking flight experiment was carried out in the simulation model.The experimental results show that the controller can meet the requirements of the inspection work.Then,an improved RRT(Rapidly-exploring Random Tree)path search algorithm is proposed,firstly,the target bias strategy is added to the original node expansion method to reduce the randomness of the algorithm;secondly,the generated path is optimized by combining the geometric properties of the triangle to improve the quality of the path;finally,the original RRT algorithm,the improved RRT algorithm and the heuristic RRT algorithm with path correction are carried out in the simulation model for path planning experiments and compared with each other.The experimental results show that the path length planned by the improved RRT algorithm is shorter,planning time consumption is lower and stability is better.At the end of the project,a four-rotor drone equipped with a gas detection device was tested in an industrial gas pipeline environment,the test results show that the system can meet the needs of inspection tasks and can be applied to the inspection work of gas pipelines.