Research On Obstacle Avoidance Technology Of Multi Rotor UAV In Power Inspection

As one of the attractive research fields, multi-rotor aircraft has been widely used in both military and civilian applications because it have a simple structure and super maneuver capability, This makes it has been widely concerned by the scholars of the major scientific research institutions.In recent years, Multi-rotor unmanned helicopter has been increasingly used in electrical inspection. Power inspection greatly improve the efficiency of inspection because of multi-rotor unmanned helicopter.During in the inspection,Judgment of the position of helicopter mainly rely on the manipulator’s visual inspection. The manipulator is often difficult to accurately calculate the relative position of the helicopter and Tower. When the helicopter near the Eiffel Tower, control system can not correct the error handling hand manipulation commands. This will lead to a certain extent accident.This article embarks from the present situation of electrical inspection, and do research on the technology of obstacle avoidance for multi rotor based on power inspection.The main work of this article is as follows:First of all, Analyzed the two main processes in the flight process of electrical inspection. Designed RRT algorithm to avoid the obstacle avoidance path planning in 2D and 3D space. And Pruned and smoothed the track of avoid obstacles. Secondly, Analyzed the mathematical model and control algorithm of four rotor UAV. And established the mathematical model of auxiliary obstacle avoidance system. Introduced a PID controller based on this mathematical model and realized the simulation on three channels which are throttle, pitch and roll.Thirdly, Designed a four rotor flight test platform with a wheelbase of 90 cm,and determined the environmental testing method is 360 laser scanner. On the basis of this, Completed the hardware design and manufacture of the assistant obstacle avoidance control system, and Completed the implementation of the control algorithm of the auxiliary obstacle avoidance.Last, In order to verify the reliability of the control algorithm and the effectiveness of the auxiliary obstacle avoidance. Completed the test including the detection performance of obstacle avoidance system, auxiliary remote control command to capture and output effect, and UAV flight performance test.The results show, this auxiliary obstacle avoidance system can adapt to different flight control platform,and have a certain ability to avoid obstacles to wall,tree and larger voltage level tower.