Design and Implementation of Autonomous Obstacle Avoidance Scheme for UAV in High-speed Rail Inspection

MA Zhanchuan

doi:10.13890/j.issn.1000-128x.2018.03.022

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Design and Implementation of Autonomous Obstacle Avoidance Scheme for UAV in High-speed Rail Inspection

更新时间：2021-12-13

- Design and Implementation of Autonomous Obstacle Avoidance Scheme for UAV in High-speed Rail Inspection
- Electric Drive for Locomotives Issue 3, Pages: 104-107(2018)
- 作者机构：
  
  1. 昆明铁路局设备监造处,云南,昆明,650215
- 作者简介：
- 基金信息：
- DOI：10.13890/j.issn.1000-128x.2018.03.022
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MA Zhanchuan. Design and Implementation of Autonomous Obstacle Avoidance Scheme for UAV in High-speed Rail Inspection. [J]. Electric Drive for Locomotives (3):104-107(2018)
DOI：

MA Zhanchuan. Design and Implementation of Autonomous Obstacle Avoidance Scheme for UAV in High-speed Rail Inspection. [J]. Electric Drive for Locomotives (3):104-107(2018) DOI： 10.13890/j.issn.1000-128x.2018.03.022.

摘要

高铁巡检中无人机自主巡检扮演着重要的角色。为了提高无人机的工作效率和工作范围，首先要解决无人机在自主巡检过程中的避障问题。主要研究避障算法，提出了一种基于迭代重组（iterative recombination, IRIS）和人工势场（artifical potential field,APF）相结合的避障方案。根据无人机自主巡检的需求和约束条件，对IRIS 和APF 进行优化和有效的组合，实现了IRIS 算法在无人机避障中的应用，确保了无人机朝着目标点的准确走向。通过仿真和试验验证，提出的IRIS

Abstract

UAV autonomous inspection plays an important role in high-speed rail inspection. In order to improve the efficiency and scope of UAV work, the obstacle avoidance problem of UAV in the process of autonomous inspection must be solved. The obstacle avoidance algorithm was mainly studied, and an obstacle avoidance scheme based on the combination of IRIS (iterative recombination) and APF (artificial potential field) was proposed. According to the requirements and constraints of UAV autonomous inspection, the IRIS and APF were optimized and effectively combined to achieve the application of IRIS algorithm in the UAV obstacle avoidance, which ensured the accurate direction of the UAV toward the target point. Through the simulation and experimental verification, the proposed IRIS-APF obstacle avoidance scheme not only achieves the goal of avoiding obstacles, but also achieves a higher algorithm speed and accuracy.

关键词

高铁无人机迭代重组人工势场避障MATLAB

Keywords

high-speed railUAVIRISAPFobstacle avoidanceMATLAB

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