广东电力2025，Vol.38Issue(1)：73-82,10.DOI:10.3969/j.issn.1007-290X.2025.01.008
基于QI-RRT*算法的无人机电力巡检路径规划
Obstacle Avoidance Path Planning in the Power System Based on QI-RRT* Algorithm for UAV
摘要
Abstract
Aiming at the difficult obstacle avoidance problem encountered by UAV in substation equipment or dense tree scenarios during power inspection,a QI-RRT* algorithm(Quick and Informed RRT-star)is innovatively proposed on the basis of the traditional RRT algorithm.The algorithm proposes two key optimizations:to enhance the optimization effect of UAV power inspection paths by adopting the reconnection and rewriting step in the optimized RRT* algorithm;and to enhance the goal orientation of path planning by invoking the multi-objective sampling strategy containing ellipsoid subset sampling.Finally,this paper carries out comparative simulation experiments between the QI-RRT* algorithm and other algorithms under the simulated inspection environment,and the experimental results are analyzed in depth from multiple dimensions such as the expansion situation,path cost,and planning time.The results show that the algorithm proposed in this paper shortens the planning time by 83.07%on average compared with the RRT* algorithm and reduces the path cost by 4.76%at the same time,which verifies that in the multi-obstacle environment,the QI-RRT* algorithm has a significant enhancement effect on the UAV to quickly find an effective inspection path.关键词
无人机/电力巡检/避障路径规划/RRT算法/椭球子集采样Key words
UAV/power system patrol/obstacle avoidance path planning/RRT algorithm/ellipsoidal subset sampling分类
动力与电气工程引用本文复制引用
蓝誉鑫,何思名,李晨,李海,梁财源,徐敏..基于QI-RRT*算法的无人机电力巡检路径规划[J].广东电力,2025,38(1):73-82,10.基金项目
国家自然科学基金项目(U22B2096) （U22B2096）
中国南方电网有限责任公司科技项目(035300KK52210015[GDKJXM20210054]) （035300KK52210015[GDKJXM20210054]）
