无人机山区环境激光扫描路径规划方法研究

为了提升山区环境里无人机进行扫描时的飞行测量有效性和飞行效率,提出了一种结合传感器测量特性的路径规划方法,以激光传感器的最大测量距离和角度、飞行效率、巡检目标位置为约束,通过求解规划方程得到飞行的轨迹,从而保证无人机山区环境巡检的安全和效率。结果表明,结合Velodyne VLP-16,RS-LiDAR-16,HDL-32E 3种激光传感器的最大测量距离d以及测量角度θ等特性进行路径规划,规划优化效果分别达到了7.58%,11.18%,13.33%。该研究验证了山区激光扫描路径规划方法的有效性和正确性。

Research on laser scanning path planning method for UAV mountain environment

Point cloud data of mountain power corridor space can be used to assist in path planning, reduce the probability of the drone flight accidents and effectively improve the efficiency and accuracy of the inspection with drones. In the process of path planning, the effectiveness of flight measurement and flight efficiency need to be taken into account. However, there is no effective way to solve this problem. In order to improve the effectiveness of flight measurement and flight efficiency, a path planning method combining sensor measurement characteristics was proposed, which was based on the maximum distance and angle of laser measurement, with flight efficiency and inspection target position as the constraints. The trajectory of flight was obtained by solving the planning equation, so as to ensure the safety and efficiency of the drone mountain environmental inspection. The experimental results show that the planning optimization effect is 7.58%, 11.18% and 13.33%, respectively, with consideration of the maximum measured distance d and measuring angle θ evaluated by the combined laser sensor of Velodyne VLP-16, RS-LiDAR-16 and HDL-32E. Therefore, the validity and correctness of the path planning method of laser scanning in mountain areas were verified.