Research on Multi-objective Point Path Planning Method for UAV Inspection of Bridges
Aiming at the multi-objective path planning problem of UAV detecting bridge substructure,a mathematical model of UAV detecting bridge pier was established,and an improved ABC algorithm(HABC algorithm)based on chaotic mapping was proposed by using improved Henon chaotic mapping to optimize the initial stage of honey source and the search stage of reconnaissance bees in traditional ABC algorithm.Through simulation and comparative analysis,it is found that HABC algorithm has faster iterative convergence than ABC algorithm,and the average evaluation function value is also bet-ter than ABC algorithm,which realizes the optimization of the algorithm in global path planning prob-lem.Combining HABC algorithm with greedy strategy,a greedy HABC algorithm was proposed to realize the multi-objective path planning of bridge pier structure detected by UAV,and the reliability of the algorithm was verified by simulation.The results show that the running time of the algorithm can be effectively saved by sacrificing the total length of a small number of paths.
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维普
