Path Planning of Unmanned Aircraft Inspection for Electric Towers Based on Advanced RRT Algorithm
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摘要:
为了达到无人机在电力输电线路环境中能够进行有效的路径规划以及轨迹跟踪的目的,立足于RRT(Rapidly Exploring Random Trees)算法,提出一种在电力输电线路中适用于无人机的路径规划算法．该算法在融合无人机的动力学特性,及RRT扩展的随机性的基础上,通过设计最大航向角以及路径高度的约束,使得规划的路径在高度方向上向目标点渐进逼近,并能克服传统RRT在狭窄空间规划失败的问题.算法在ROS(Robot Operating System)-Gazebo环境中进行了仿真试验，验证了该算法在电力输电线路环境下的实用性.
Abstract:
In order to achieve the goal of the effective path planning and trajectory tracking of UAV (Unmanned Aerial Vehicle), one approach based on the RRT (Rapidly Exploring Random Trees) algorithm proposes a path planning algorithm for UAV in the environment of electric towers. Under the combination of the dynamics characteristics of UAV and the randomness of RRT, the algorithm with constraint of the maximum path angle and path height plans a path which gradually approximates to the target point and overcomes the failure problem of RRT in the narrow space planning. The simulation experiment is established in the ROS (Robot Operating System)-Gazebo and verifies the practicability of the algorithm.
