Research On Track Planning Of Quadrotor Unmanned Aerial Vehicle

In the unstructured and dynamic environment,the task of route planning is not only to allow the target to move,but also to quickly determine the collision free and smooth path,while meeting the safety requirements.The main disadvantage of the existing technologies is that only two-dimensional static path planning is considered to simplify the path planning problem,so they are not suitable for practical application,because most environments are dynamic,threedimensional and unknown.In this thesis,the path planning of quadrotor unmanned aerial vehicle(UAV)is taken as the research object,and the traditional artificial potential field method is taken as the research basis.The problems of local minimum and path oscillation in the traditional algorithm are mainly solved.The planning environment is divided into twodimensional space and three-dimensional space.On this basis,static and dynamic obstacles are included respectively.Then the UAV path planning for power tower inspection is studied.First of all,this thesis studies the track planning in the two-dimensional static environment.The planning principle of the traditional algorithm is mastered as well as the problems that lead the failure of the track planning in the traditional algorithm are analyzed and solved.Besides,the performance of the algorithm with the ant colony algorithm is compared.Under the condition of successful track planning in two-dimensional space,the planning space is expanded to three-dimensional space.For the problem of higher complexity in threedimensional space,the traditional algorithm is improved again.By comparing the improved algorithm with the traditional algorithm and other improved algorithms,it is found that the proposed algorithm has obvious advantages in the shortest path and the minimum path cost.Then,the dynamic obstacles are included in the scope of the research object,and the velocity potential field and acceleration potential field are constructed.In the process of path planning,several judgments are made to adjust the force when the UAV is at different distances from the obstacles,so that the UAV can avoid the obstacles in advance.Finally,the path planning method of UAV for power tower inspection is studied.For the sake of safety and in order to complete the task successfully,no fly area is set for UAV to ensure that UAV will not collide with power tower in case of external influence.In addition,patrol points and guidance points are set to assist UAV to complete patrol tasks.Through the above simulation experiments,it is found that the artificial potential field method has the advantages of simple algorithm,short simulation time and high feasibility.