Path Planning of Unmanned Aircraft Inspection for Electric Towers Based on Advanced RRT Algorithm

被引：0
|
作者：
Luo L. [1 ]
Li D. [1 ]
Zhong H. [1 ]
机构：
[1] College of Electrical and Information Engineering, Hunan University, Changsha
来源：
Luo, Longfu (llf@hnu.edu.cn) | 2018年 / Hunan University卷 / 45期
基金：
中国国家自然科学基金;
关键词：
Advanced RRT; Aircraft; Electric towers; Path planning; ROS-Gazebo;
D O I：
10.16339/j.cnki.hdxbzkb.2018.10.011
中图分类号：
学科分类号：
摘要：
In order to achieve the goal of the effective path planning and trajectory tracking of UAV (Unmanned Aerial Vehicle), one approach based on the RRT (Rapidly Exploring Random Trees) algorithm proposes a path planning algorithm for UAV in the environment of electric towers. Under the combination of the dynamics characteristics of UAV and the randomness of RRT, the algorithm with constraint of the maximum path angle and path height plans a path which gradually approximates to the target point and overcomes the failure problem of RRT in the narrow space planning. The simulation experiment is established in the ROS (Robot Operating System)-Gazebo and verifies the practicability of the algorithm. © 2018, Editorial Department of Journal of Hunan University. All right reserved.
引用
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页码：80 / 86
页数：6
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