Research On UAV Path Planning Algorithm For Bridge Detection

As we all know,the safe operation of the bridge is a major event that relates to national economy and the people's livelihood.The regular inspection and maintenance of the bridges are the effective guarantee to extend the life cycle of the bridge.Traditional bridge detection mainly relies on the cooperation of bridge inspection vehicles and operators,which not only results in high costs and long inspection cycles,but also has a serious impact on the smooth flow of road traffic.Moreover,there is a great potential safety hazard for operators when testing.In recent years,UAV has been widely used in military and civil fields due to its simple structure,flexible operation and convenient portability.Equipping with a haeundae,mini-camera and other hardware equipments,it can easily achieve what it is difficult for traditional bridge detection to complete or even impossible to complete the task of detection.However,due to the objective reasons of the hardware conditions such as the life of the UAV and its difficulty in handling,there are limitations in currently using the UAV to detect the bridges.Therefore,how to efficiently use the UAV to perform the bridge inspection tasks and improve the UAV flight safety factor for bridge inspection are the Urgent problems.The main way to solve this problem is to rationally plan the bridge detection UAV flight path.The application background of this paper is in the field of bridge inspection.Therefore,the paper mainly studies the path planning of bridge inspection UAV.The specific contents are as follows:First of all,taking the bridge detection UAV as an object,this paper carry out constraint analysis to the key factors affecting the path planning from inside and outside two aspects respectively.Among them,the internal factors mainly include the life span of the UAV,the recognition rate of the camera and the aerial speed.The external factors mainly include the surrounding environmental factors when the UAS performs its task.This paper mainly analyzes the bridge model and the wind field around it.Second in this paper,a full-coverage path planning algorithm based on element decomposition is proposed.The environment is modeled by the grid method in combination with the environment acquisition process,and then the search space is decomposed into multiple sub-areas by element decomposition.Then two-point method and binary tree search strategy to traverse the sub-region,so as to achieve full coverage of the bridge bottom traversal.At last when the bridge detection UAV performs testing tasks under the bridge,the windspeed has the greatest impact on the flight.Therefore,the FLUENT software is used to simulate the wind field.Then on this basis,the numerical analysis of the wind field around the bridge is carried out,and the wind field conditions of the bridge inspection UAV capable of safely carrying out the tasks under the bridge are introduced.Finally,the path planning of bridge detection UAV is simulated by MATLAB.Two common bottom bridge structures under continuous rigid frame bridge of concrete structure are studied: the bottom of smooth bridge and the bottom of box bridge with small box girder bridge.