| Autor: |
Yanchu Li, Xinzhou Dong, Qingqing Ding, Yinlong Xiong, Huilian Liao, Tao Wang |
| Jazyk: |
angličtina |
| Rok vydání: |
2024 |
| Předmět: |
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| Zdroj: |
Energies, Vol 17, Iss 21, p 5364 (2024) |
| Druh dokumentu: |
article |
| ISSN: |
1996-1073 |
| DOI: |
10.3390/en17215364 |
| Popis: |
The operational areas for unmanned aerial vehicles (UAVs) used in power line inspection are highly complex; thus, the best path planning under known obstacles is of significant research value for UAVs. This paper establishes a three-dimensional spatial environment based on the gridding and filling of two-dimensional maps, simulates a variety of obstacles, and proposes a new optimization algorithm based on the A-STAR algorithm, considering the unique dynamics and control characteristics of quadcopter UAVs. By utilizing a novel heuristic evaluation function and uniformly applied quadratic B-spline curve smoothing, the planned path is optimized to better suit UAV inspection scenarios. Compared to the traditional A-STAR algorithm, this method offers improved real-time performance and global optimal solution-solving capabilities and is capable of planning safer and more realistic flight paths based on the operational characteristics of quadcopter UAVs in mountainous environments for power line inspection. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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