电力线巡检飞行机器人路径规划方法  

Path planning method of flying robot for inspection overhead power transmission lines

作　　者：柳长安[1] 刘春阳[1] 周宏[1] 魏振华[1] 

机构地区：[1]华北电力大学计算机科学与技术学院,北京102206

出　　处：《华中科技大学学报（自然科学版）》2010年第1期117-120,共4页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(60775058);教育部科学技术研究重点资助项目(107028)

摘　　要：提出了一种基于改进概率地图法的电力线巡检飞行机器人路径规划方法.首先,在分析概率地图法不足的基础上,利用分支游动原理改进的概率地图,使得概率地图更加完整,减少了碰撞检测的次数,提高了算法的执行效率,有利于路径搜索.其次,将改进的概率地图方法应用于电力线巡检飞行机器人的路径规划中,能够在复杂的环境中找到一条可行的、安全的电力线巡检路径.最后,将路径规划方法与具体电力线巡检任务整合在一起进行仿真实验,仿真结果验证了所提出的路径规划方法的正确性和有效性.On the basis of the probabilistic roadmap method （PRM）, a path planning method was proposed for flying robots inspecting overhead power lines. A modified probabilistic roadmap method for PRM algorithm based branching random walk was described by the deficiency of probabilistic roadmap method. More integrated of probabilistic roadmap was adopted to search path to increase the times of collision detection. This modified method was applied in path planning for flying robot for overhead powerline inspection, and a feasible and safe power line inspection path was found in complicated environment. Finally,integration of path planning methods and specific task enable it to better adopt to powerline inspection, and the simulation result proves the feasibility of the method.

关 键 词：电力线路巡检 飞行机器人 路径规划 概率地图法 分支游动 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]