Multi-rotor unmanned aerial vehicle inspection path planning method

Abstract

The invention relates to a multi-rotor unmanned aerial vehicle inspection path planning method, which comprises the following steps of: firstly, in order to ensure inspection safety and low energy consumption, establishing a battery energy consumption and backlight avoidance cost minimum target function; analyzing influence factors influencing the energy consumption of the inspection battery of the multi-rotor unmanned aerial vehicle, and determining hovering energy consumption and cruising energy consumption; determining the relationship between the sun illumination and the inspection track of the multi-rotor unmanned aerial vehicle; modeling the scanned three-dimensional point cloud model of the to-be-inspected object, and inputting all viewpoint coordinates in the cruising process; andoutputting an optimal cruise path by applying an improved ant colony algorithm, outputting an optimal flight path between two adjacent viewpoints by applying an improved A* hybrid algorithm, and finally outputting an optimal flight path. According to the method, the influence of energy consumption and sun illumination on route planning in the cruising process of the unmanned aerial vehicle can bedetermined, a safe, low-energy-consumption and backlight-avoiding optimal path is provided for unmanned aerial vehicle routing inspection, and the safety and reliability of automatic routing inspection of the multi-rotor unmanned aerial vehicle are improved.

Description

technical field [0001] The invention relates to the technical field of track planning of a non-multi-rotor UAV, in particular to a method for planning a multi-rotor UAV inspection path. Background technique [0002] With the development of the aviation industry and technology, the use of multi-rotor UAVs for inspections has become a recent research hotspot. Multi-rotor drones are not only light in weight, small in size, and low in cost; they are also highly flexible and easy to control; efficient and comprehensive inspection services can be achieved through manual or automatic methods. The multi-rotor UAV is equipped with various visible light, infrared, ultraviolet or laser equipment to perform inspection tasks together, and will be able to fully detect and grasp the safety of the object to be inspected. The multi-rotor UAV flies according to a certain route, collects images or videos to obtain the equipment status and surrounding environment of the object to be detected, ...

AI Technical Summary

Problems solved by technology

[0003] At present, the application of multi-rotor UAVs and related path planning algorithms mainly have the following problems: First, there are few researches on full-coverage path planning methods for multi-rotor UAVs in 3D space for 3D object structures; The inspection path mostly takes the shortest path as the inspection target, fails to consider the influence of natural wind factors and light conditions on track planning, and cannot effectively integrate the safety constraints for the performance of towers and multi-rotor UAVs to achieve optimal path planning

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