电力线路巡检飞行机器人三维轨迹生成方法

Threedimensional Path Generation Method of Flying Robot for Overhead Powerline Inspection

摘要:

在马尔可夫模型的基础上,研究了一种电力线路巡检飞行机器人的轨迹生成方法.结合电力线路巡检飞行机器人控制的基本标准并利用三维空间的高度分层,提出了一种基于状态聚类方法的分层马尔可夫决策过程模型.在飞行机器人原有轨迹上,得到一种符合其动力学约束的飞行轨迹.最后,利用电力线巡检飞行机器人仿真实验工具,把该方法策略应用于其中,验证了其有效性和正确性.

关键词:电力线路巡检飞行机器人; 分层马尔可夫决策过程; 三维轨迹生成

Abstract:

This paper presents a study of a flying robot for overhead powerline inspection trajectory generation method based on Markov model.A hierarchical Markov decisionmaking process model based on state clustering method,which combines the basic standards of flying robot for overhead powerline inspection and a high degree of stratification,is presented.The original flight trajectory will be a new one that is consistent with its dynamics constraint.Finally,the methods and strategies are applied to the simulation tools to verify their validity and correctness.

Key words:flying robot for overhead powerline inspection; hierarchical Markov decision process; threedimensional trajectory generation