电力巡线无人机的多重避障方法研究.pdfVIP

中国科技论文在线 # 电力巡线无人机的多重避障方法研究 徐华东，杨轻，王世勇，李少斌，杨忠** （南京航空航天大学自动化学院，江苏南京 210016 ） 5 摘要：针对电力巡线无人机避障问题，提出了柱状空间法和多传感器信息融合的无人机多重 避障控制方法。首先，根据输电线路和环境信息，建立无人机作业的安全约束区域；然后， 根据电力巡线的特点，建立输电线路电磁场分布情况，并对电磁场检测传感器、超声波测距 传感器、气压计和 GPS 接收机等传感器的数据进行处理；在此基础上，研究了多传感器信 10 息融合的无人机避障策略；最后将方法应用于无人机的电力巡线中。仿真结果表明，基于该 方法，无人机可以安全可靠完成电力巡线任务。 关键词：无人机避障；多传感器信息融合；柱状空间；电磁场分布 中图分类号：V249 15 Research on Multiple Obstacle Avoidance Methods with UAVs for Power Lines Inspection XU Huadong, YANG Qing, WANG Shiyong, LI Shaobin, YANG Zhong (College of Automation Engineering ，Nanjing University of Aeronautics and Astronautics ， Nanjing 210016 ，China) 20 Abstract: Aimed at obstacle avoidance of UAVs for power lines inspection,an algorithm based on columnar space and multi-sensor information fusion is designed.At the first place, the security constraint region is established for operations region of the UAV according to the information of transmission lines and environment.Secondly, according to the characteristics of power line inspection, establish electromagnetic field distribution of the transmission lines and process data 25 of sensors,such as detecting sensors of radiated electromagnetic fields,ultra-sonic distance measurement sensor,barometer,GPS receiver and so on.On this basis, conduct a research on the UAV avoidance strategy by multi-sensor information fusion.Finally, the flight test results show that this method is safe and reliable for the UAV to complete power line inspection tasks. Key words: UAV Obstacle Avoiding;Multi-sensor Information Fusion;Columnar Spa