Parallel path control system for multiple unmanned aerial vehicles in electric power inspection
In power inspection,multiple unmanned aerial vehicle formations are affected by the three-dimensional artificial potential energy field during flight,which can easily lead to collision problems.Therefore,a control system for parallel paths of multiple unmanned aerial vehicles is proposed.Using navigation satellites as dynamic known points,construct a visual positioning device structure for unmanned aerial vehicles.Use a three screen portable graphics workstation structure to display real-time control path graphics.The potential energy field of the drone is analyzed,and the relationship between the position difference between the current moment and the previous moment during drone flight and the set threshold is calculated.The problem of path control falling into local minima is solved by adding an additional potential energy field.Based on the theory of constraint dynamics,a dynamic equation for path arrangement control under actual UAV constraints is constructed to complete parallel path control.The experiment shows that after applying this system,the parallel fixed distance of the drone differs by 1m from the ideal distance,and the parallel trajectory is consistent with the ideal trajectory.
electric power inspectionmultiple unmanned aerial vehicle formationsparallel pathpath controlartificial potential field
NETL
NSTL
万方数据
