摘要
随着配电网智能化水平提升,无人机在巡检任务中广泛应用,其中动态障碍物避让能力成为关键技术,然而,配电网环境复杂,存在大量静态与动态障碍物。为此,本文提出一种面向配电网巡检的无人机动态避障路径规划策略,构建基于运动状态与物理约束的建模体系,以最小化偏离距离为目标。本文对偏转时间与最大转弯半径解析推导、三类偏转角度下的路径偏移建模,并通过设定最小转弯半径优化返航路径,提升路径平滑性与安全性。实验结果表明,该方法可有效降低偏移幅度,最小偏离距离比最大值减少约35%,验证了其在复杂低空环境中的实用性与有效性。
With the advancement of distribution network intelligence,UAVs have been widely applied in inspection tasks,where the ability to avoid dynamic obstacles has become a key technology.However,the distribution network environment is complex,containing numerous static and dynamic obstacles.To address this challenge,this paper proposes a dynamic obstacle avoidance path planning strategy for UAVs in distribution network inspection scenarios.A modeling framework is constructed based on motion states and physical constraints,aiming to minimize the deviation distance.This work analytically derives the deflection time and maximum turning radius,models path deviation under three types of deflection angles,and optimizes the return path by setting the minimum turning radius to enhance trajectory smoothness and safety.Experimental results show that the proposed method effectively reduces deviation,with the minimum deviation distance approximately 35%lower than the maximum,verifying its practicality and effectiveness in complex low-altitude environments.
作者
曾也綦
安佳宁
Zeng Yeqi;An Jianing(Yunnan Electric Power Technology Co.,Ltd.,Kunming 650217,China;Fujian Strait Enterprise Management Service Co.,Ltd.,Fuzhou 350003,China)
出处
《云南电力技术》
2025年第4期70-73,共4页
Yunnan Electric Power
关键词
配电网巡检
无人机
动态障碍物
偏离距离
Distribution Network Inspection
UAV
Dynamic Obstacle
Deviation Distance
