Quantum particle swarm solution unmanned aerial vehicle path planning method based on annealing algorithm

Abstract

The invention discloses a quantum particle swarm solution unmanned aerial vehicle path planning method based on an annealing algorithm. The method comprises the steps of 1) carrying out the preprocessing of defect point information according to the photographing characteristics of unmanned aerial vehicles, the curved surface characteristics of a double-curvature arch dam, and the defect characteristics of a dam, and changing defect points into task points; 2) performing target allocation planning on all task points, grouping the task points by using a Gaussian quantum particle swarm algorithm, and then traversing each group of allocated unmanned aerial vehicles; and 3) after the task points are subjected to grouping planning, performing intra-group multi-task-point path planning on each group by using a quantum particle swarm algorithm based on the annealing algorithm to obtain an unmanned aerial vehicle flight path which covers all the task points in the group and comprehensively considers energy consumption, flight time and flight height. According to the invention, the path planning efficiency is improved, the invalid flight path, flight time and flight loss of the unmanned aerial vehicles are reduced, and the flight safety is improved.

Description

technical field [0001] The invention belongs to the field of path planning, in particular to a quantum particle swarm solution based on annealing algorithm for unmanned aerial vehicle path planning method. Background technique [0002] In the field of construction engineering, the inspection items or inspection points that do not meet the specified requirements in the construction quality of the project are defined as defects. With the long-term operation of the hydropower dam, the aging of materials, environmental impact and other reasons lead to the formation of defects to varying degrees. When the defect is relatively light, corresponding measures can be taken to deal with the defect in a timely manner to meet the load-bearing requirements of the structure. Once the defect is not processed and remedied in time, it will pose a major threat to the safe operation of the dam. The safety of reservoirs and dams not only directly affects the performance of flood control work, bu...

AI Technical Summary

Problems solved by technology

[0003] Purpose of the invention: In order to overcome the cumbersomeness and difficulty of manual inspection of the dam surface in the prior art, and the quality of the defect images obtained is not high, the present invention provides a quantum particle swarm solution based on annealing algorithm for unmanned The machine path planning method improves the efficiency of arranging inspection routes after knowing the position information of dam surface defects

Images