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

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