Design and Research on Intelligent Inspection UAV for High-voltage Cable Tunnels
There are major problems in traditional high-voltage cable tunnel inspection work.We researched and designed an in-telligent inspection drone,combined the artificial potential field method and two-way rapid exploration of random trees for path plan-ning,and conducted experimental verification.The simulation experiment results show that the position control error of the UAV is maintained at the centimeter level,and the maximum error in height and plane X-axis and Y-axis does not exceed 0.05 m.In terms of obstacle avoidance,the UAV's obstacle avoidance success rate is as low as 92.54％and as high as 100％.In addition,the im-proved path planning method proposed in the study improves the average path planning efficiency by 21.76％compared with the tradi-tional method.The final field test results show that in high-voltage cable tunnels,the intelligent inspection drone designed by the re-search can fly stably and perform tasks according to the simulated path,providing feasible technical support for intelligent inspection of high-voltage cable tunnels and can be used in practical applications Improve the efficiency and safety of cable tunnel inspections.
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