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Journal of System Simulation

Abstract

Abstract: In order to improve the efficiency and quality of unmanned aerial vehicle (UAV) substation inspection, a hierarchical motion planning method for UAV inspection based on front-end path search and back-end trajectory generation is proposed. At the front end, an improved A* algorithm is proposed to increase the planning speed and reduce the path turnings by constraining the direction of node expansion and modifying the heuristic function. At the back end, a minimum-snap trajectory optimization combined with the waypoint filtering method is proposed to generate a smooth trajectory that is beneficial for UAV inspection and tracking. The simulation results show that the improved front-end path planning method can obtain the flight path with fewer turns in less computation time, and the back-end trajectory optimization combined with the key point filtering can generate the trajectory with shorter flight time. Tracking the trajectory by the back-end optimization can provide higher tracking accuracy than path tracking, which is helpful to ensure the flight safety and stability of the UAV during the inspection process.

First Page

1975

Last Page

1984

CLC

TP391.9; TP242

Recommended Citation

Jiao Songming, Shou Yunfeng, Bai Jianpeng, et al. Research on Hierarchical Motion Planning Method for UAV Substation Inspection[J]. Journal of System Simulation, 2023, 35(9): 1975-1984.

Corresponding Author

Wang Zhu

DOI

10.16182/j.issn1004731x.joss.22-0519

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