基于坐标变换技术的无人机避障策略  

Obstacle avoidance strategy of unmanned aerial vehicle based on coordinate transformation technology

作　　者：宋福根[1] 吕学伟 SONG Fugen;Lü Xuewei(School of Electrical Engineering and Automation,Fuzhou University,Fuzhou350000)

机构地区：[1]福州大学电气工程与自动化学院,福州350000

出　　处：《电气技术》2021年第7期53-59,共7页Electrical Engineering

基　　金：2019年福建省中青年教师教育科研项目(JAT190044)。

摘　　要：由于人工巡检输电线路效率低且成本高,故采用无人机进行输电线路巡检已经成为一种趋势。避障是无人机巡检工作的重要一环,本文提出以极坐标变换后的电场强度均值为避障参量实现高精度避障。首先,说明基于坐标变换技术的无人机避障原理;然后,以单回输电线路水平排列方式为例,研究无人机巡检预警避障和极限避障策略;最后,根据实测的电场强度数据对避障策略进行验证。结果证明,基于极坐标系电场强度均值的方案能够准确高效地实现无人机避障目的。Due to the low efficiency and high cost of manual transmission line inspection,it has become a trend to use unmanned aerial vehicle(UAV)for transmission line inspection.Obstacle avoidance is an important part of the inspection work.The average electric field intensity after polar coordinate transformation is taken as the parameter of the obstacle avoidance to achieve high precision obstacle avoidance in this paper.Firstly,the principle of UAV obstacle avoidance technology based on coordinate transformation is explained.Then the single circuit transmission line in horizontal arrangement is taken as an example to study the early warning and ultimate obstacle avoidance strategies of UAV patrol inspection.Finally,the obstacle avoidance strategy is verified by the measured electric field intensity data.The results show that the average electric field intensity scheme based on polar coordinate system can achieve the goal of UAV obstacle avoidance accurately and efficiently.

关 键 词：无人机 避障 输电线路 电场强度 坐标变换 

分 类 号：V279[航空宇航科学与技术—飞行器设计] TM75[电气工程—电力系统及自动化]