铁路通信信号工程技术2025，Vol.22Issue(2)：11-17,70,8.DOI:10.3969/j.issn.1673-4440.2025.02.002
基于无人机协同编队控制的铁路智能巡检方法
Intelligent Railway Inspection Method Based on UAV Cooperative Formation Control
摘要
Abstract
With the rapid development of railway transport networks,higher demands are placed on the intelligence and efficiency of railway inspections.This paper proposes an inspection method based on UAV cooperative control to address side-flying and side-view detection challenges under railway safety zone constraints.By designing a formation control model and optimizing cooperative algorithms,the proposed method achieves precise coverage and path tracking for inspection tasks.Theoretical modeling and simulation testing validate its superior performance in formation path tracking control.Furthermore,the proposed method demonstrates strong versatility and can also be applied to inspections of strip-shaped infrastructures,such as highways and oil and gas pipelines,providing an efficient solution for intelligent inspection tasks.关键词
无人机协同巡检/铁路巡检/编队控制/带状基础设施巡检/协同路径跟踪Key words
UAV cooperative inspection/railway inspection/formation control/inspection of strip-shaped infrastructure/cooperative path tracking分类
航空航天引用本文复制引用
李浩,牛洪蛟,李夏洋,袁小芳..基于无人机协同编队控制的铁路智能巡检方法[J].铁路通信信号工程技术,2025,22(2):11-17,70,8.基金项目
国家自然科学基金项目(62473140) （62473140）
