微型电脑应用2023，Vol.39Issue(11)：174-177,4.
基于PID算法的输电线路无人机巡检路径智能自动规划技术
Intelligent Automatic Path Planning Technology of Transmission Line UAV Inspection Based on PID Algorithm
李波 1杨炯 1李宁 1陈炜 1罗宏洋1
作者信息
- 1. 宁夏超高压电力工程有限公司,宁夏,银川 750011
- 折叠
摘要
Abstract
In order to reduce the positioning error and avoid the inspection risk caused by complex environment,the intelligent automatic path planning technology of transmission line UAV inspection based on PID algorithm is studied.Using RTK posi-tioning technology,the location information of inspection mark points of transmission line UAV is collected.Using the path generation method,the optimal geometric path of UAV from the starting point to the target point is simulated,a dynamic mod-el of UAV height and attitude directly controlled by PID parameters is created,and the path planning tracking controller based on PID algorithm is used to control the UAV to fly to the target point according to the optimal path.The intelligent automatic path planning of transmission line UAV inspection is realized.The experimental results show that the positioning error of the mark points to be inspected is always less than 0.25 × 10-4.The UAV inspection path of transmission line planned by this technology is short,which can effectively avoid the inspection risk caused by complex environment.关键词
PID算法/输电线路/无人机/巡检路径/智能自动规划/RTK定位Key words
PID algorithm/transmission line/UAV/inspection path/intelligent automatic planning/RTK positioning分类
信息技术与安全科学引用本文复制引用
李波,杨炯,李宁,陈炜,罗宏洋..基于PID算法的输电线路无人机巡检路径智能自动规划技术[J].微型电脑应用,2023,39(11):174-177,4.
