面向斜拉桥索塔巡检的旋翼UAV避障航迹规划

Trajectory Planning of Rotor UAV for Inspection of Cable-stayed Bridge Tower

摘要:

针对斜拉桥索塔巡检的旋翼UAV避障航迹规划问题，提出了一种面向斜拉桥索塔巡检的旋翼UAV避障航迹规划方法。该方法以巡检过程中旋翼UAV的能量消耗为航迹优劣评价指标，利用基于信息熵理论改进后的遗传算法获取能量消耗最少航迹，并提出双圆弧避障策略对航迹上存在斜拉索障碍的局部区域进行航迹重新规划，使之能有效地避让斜拉索障碍，保障旋翼UAV的飞行安全。以咸阳渭城桥索塔的外观巡检为例进行仿真验证，仿真结果表明，所提方法规划的航迹有效地降低了巡检旋翼UAV的能量消耗，确保了巡检旋翼UAV的飞行安全，能够较好地适用于斜拉桥索塔外观巡检。

Abstract:

Considering the trajectory planning problem of rotor unmanned aerial vehicle (UAV) for inspection of cable-stayed bridge tower, a trajectory planning method of rotor UAV for cable-stayed bridge inspection is proposed. In this method, the energy consumption of the rotor UAV during patrol inspection is taken as the evaluation index of the trajectory quality. The improved genetic algorithm based on information entropy theory is used to obtain the trajectory, which possesses the least energy consumption. The double arc obstacle avoidance strategy is proposed to re-plan the trajectory in the local area, where the stayed-cable obstacle exists. Thus, the stayed-cable obstacle can be avoided effectively and ensure flight safety of rotor UAV. The simulation results of the inspection of the cable towers of Weicheng Bridge in Xianyang show that the proposed method can effectively reduce the energy consumption of the patrol rotor UAV, ensure the flight safety of the patrol rotor UAV, and can be well applied to the external inspection of cable-stayed bridge tower.