电力巡检中多无人机并行式路径控制系统  

Parallel path control system for multiple unmanned aerial vehicles in electric power inspection

作　　者：李岩 韩哲 张慕远 LI Yan;HAN Zhe;ZHANG Muyuan(Chengde Power Supply Company,State Grid Jibei Electric Power Supply Co.,Ltd.,Chengde 067000,China;State Grid Location Based Service Co.,Ltd.,Beijing 102211,China;Information Center,Hebei Normal University for Nationalities,Chengde 067000,China)

机构地区：[1]国网冀北电力有限公司承德供电公司,河北承德067000 [2]国网思极位置服务有限公司,北京102211 [3]河北民族师范学院信息中心,河北承德067000

出　　处：《电子设计工程》2025年第3期78-82,共5页Electronic Design Engineering

基　　金：国家重点研发计划(XM202132160149)。

摘　　要：电力巡检中,多无人机编队在飞行时会受到三维空间人工势能场的影响,易导致碰撞问题。为此,提出针对多无人机并行式路径的控制系统。以导航卫星为动态已知点,构建无人机视觉定位装置结构。使用三屏便携图形工作站结构,实时显示控制路径图形。分析无人机势能场受力,计算无人机飞行中当前时刻与前一时刻位置差值与设定阈值间的关系,通过附加势能场解决路径控制过程陷入局部极小点的问题。结合约束动力学理论,构建实际无人机约束下的路径编排控制动力学方程,完成并行式路径控制。实验结果表明,应用该系统后,无人机并行固定距离与理想距离相差1 m,且并行轨迹与理想轨迹一致。In power inspection,multiple unmanned aerial vehicle formations are affected by the three-dimensional artificial potential energy field during flight,which can easily lead to collision problems.Therefore,a control system for parallel paths of multiple unmanned aerial vehicles is proposed.Using navigation satellites as dynamic known points,construct a visual positioning device structure for unmanned aerial vehicles.Use a three screen portable graphics workstation structure to display real-time control path graphics.The potential energy field of the drone is analyzed,and the relationship between the position difference between the current moment and the previous moment during drone flight and the set threshold is calculated.The problem of path control falling into local minima is solved by adding an additional potential energy field.Based on the theory of constraint dynamics,a dynamic equation for path arrangement control under actual UAV constraints is constructed to complete parallel path control.The experiment shows that after applying this system,the parallel fixed distance of the drone differs by 1m from the ideal distance,and the parallel trajectory is consistent with the ideal trajectory.

关 键 词：电力巡检 多无人机编队 并行式路径 路径控制 人工势能场 

分 类 号：TP399[自动化与计算机技术—计算机应用技术]