摘要
为了提升山区环境里无人机进行扫描时的飞行测量有效性和飞行效率,提出了一种结合传感器测量特性的路径规划方法,以激光传感器的最大测量距离和角度、飞行效率、巡检目标位置为约束,通过求解规划方程得到飞行的轨迹,从而保证无人机山区环境巡检的安全和效率。结果表明,结合Velodyne VLP-16,RS-LiDAR-16,HDL-32E 3种激光传感器的最大测量距离d以及测量角度θ等特性进行路径规划,规划优化效果分别达到了7.58%,11.18%,13.33%。该研究验证了山区激光扫描路径规划方法的有效性和正确性。
Point cloud data of mountain power corridor space can be used to assist in path planning,reduce the probability of the drone flight accidents and effectively improve the efficiency and accuracy of the inspection with drones.In the process of path planning,the effectiveness of flight measurement and flight efficiency need to be taken into account.However,there is no effective way to solve this problem.In order to improve the effectiveness of flight measurement and flight efficiency,a path planning method combining sensor measurement characteristics was proposed,which was based on the maximum distance and angle of laser measurement,with flight efficiency and inspection target position as the constraints.The trajectory of flight was obtained by solving the planning equation,so as to ensure the safety and efficiency of the drone mountain environmental inspection.The experimental results show that the planning optimization effect is 7.58%,11.18%and 13.33%,respectively,with consideration of the maximum measured distance d and measuring angleθevaluated by the combined laser sensor of Velodyne VLP-16,RS-LiDAR-16 and HDL-32E.Therefore,the validity and correctness of the path planning method of laser scanning in mountain areas were verified.
作者
彭赤
杨磊
周小红
石书山
陈科羽
谢春
PENG Chi;YANG Lei;ZHOU Xiaohong;SHI Shushan;CHEN Keyu;XIE Chun(Production Technology Department, Guizhou Power Grid Co. Ltd., Guiyang 550002,China;Transmission Operation and Maintenance Branch, Guizhou Power Grid Co. Ltd., Guiyang 550002,China)
出处
《激光技术》
CAS
CSCD
北大核心
2020年第4期441-446,共6页
Laser Technology
关键词
激光技术
无人机
激光传感器特性
路径规划
laser technique
unmanned aerial vechicle
laser sensor features
path planning
