Research On Route Planning Of UAV Based On ISSA Algorithm

With the continuous development and progress of industrial automation technology,using UAV to inspect power equipment in complex mountainous areas has become the development trend of power equipment inspection technology.Although the UAV power equipment inspection technology can save a lot of manpower and material resources,there are still many problems to be solved in the development and application of the technology,and the optimal path planning is one of them.Firstly,this thesis summarizes the research status of UAV inspection technology and UAV power inspection at home and abroad,summarizes the current common path planning methods and the main content of the research.This thesis analyzes the task requirements of electric power inspection,designs the aircraft of path planning,describes the operation process of aircraft software,plans the optimal path,discretizes the path and solves the optimal acceleration and speed of UAV in the discrete path,and establishes the UAV kinematics model for testing the performance of inspection aircraft.Secondly,it gives a brief overview of the algorithms used in path planning.For the problem of path planning,intelligent optimization algorithms such as ant colony algorithm,artificial potential field algorithm and a * search algorithm are widely used to solve the optimal path.Although these algorithms can effectively solve the optimal path,there are many problems such as early maturity,low iterative convergence speed and low accuracy.Finally,a 3D path planning method based on improved sparrow search algorithm(ISSA)is proposed to solve the path planning problem of electric UAV in the cruise process of complex mountain environment.In this thesis,through the improved calculation of the Explorer factor in the original SSA algorithm and the use of tent mapping to continuously global disturbance in the iterative process of the algorithm,the search scope of the algorithm is strengthened and the possibility of the original algorithm falling into local solution is reduced.In this thesis,the path distance and the distance between UAV and obstacles are taken as evaluation functions.The effectiveness and superiority of Issa algorithm in 3D path planning are verified by experiments.The thesis has 56 pictures,4 tables and 57 references.