Research On Obstacle Avoidance Control Of Self-rotating UAV For Power Line Inspection

With the deepening of economic development and social reform,electricity plays an increasingly important role in human life,the way of electricity inspection by the previous manual inspection gradually to the unmanned aircraft inspection expedition.Based on the actual situation of patrolling line and the research results in related fields at home and abroad,this paper studies the obstacle avoidance control of self-rotating unmanned aerial vehicle(UAV).According to the requirements of the project,the principle of motion control of self-rotating unmanned aerial vehicle(UAV)when inspecting power line is analyzed,the coordinate system of the flight control system is established,the kinematic parameters are introduced,the dynamic model of the UAV is analyzed,and the ZX100 self-rotating unmanned aerial vehicle(UAV)system overall program when inspecting power line and hardware and software system design,the application of laser radar rangefinder sensor to detect obstacles,with GPS positioning,with the barometric height sensor to determine the UAV flight height,with STM32F429 for the microprocessor to achieve automatic obstacles detection.Based on the analysis of traditional PID algorithm and modem obstacle avoidance control scheme,the vertical and horizontal methods and the obstacle avoidance control scheme based on improved artificial potential field method are designed.The algorithm of height,velocity and yaw angle of UAV is simulated by,and the design is judged according to the simulation results.Finally,under the premise of the geographical environment,the application effect of the designed obstacle avoidance scheme when inspecting power line is tested and analyzed by the data of the station back to the ground station.The test results show that the method has basically realized the power line unmanned aerial vehicle Obstacle control,to meet the design requirements.