Research on Emergency Inspection of Aerial Robot for Transmission Line
This paper has proposed an emergency electric patrol inspection method for an aerial robot based on 5G wireless net-works when facing the issue of electric patrol inspection for emergency communication.Firstly,the operating principle of the elec-tric patrol inspection quadrotor under 5G wireless network has been proposed.And the mission and challenge of the above have been analysed.Then,an im-proved glowworm swarm optimization algorithm has been introduced for path planning,which en-sures the rapidity of the emergency electric patrol inspection.Meanwhile,the dynamical model of the quadrotor has been divided into the position loop and attitude subsystems.And an adaptive control strategy based on RBF neural network has been used to de-sign the trajectory tracking control with disturbance rejection for the quadrotor.Lastly,the validity of the proposed method has been tested through a simulation of emergency electric patrol inspection.The results show that the improved glowworm swarm opti-mization algorithm can help the quadrotor obtain a feasible trajectory.And the proposed controller has a superior trajectory track-ing control performance compared to linear active disturbance rejection controller.Furthermore,the proposed method proposed can provide fast and effective emergency response to the fault area under the framework of 5G wireless network for electric inspec-tion quadrotors,which has certain engineering referenced value.
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