No blind spot three-dimensional trajectory planning of unmanned aerial vehicle for substation inspection based on digital twinning

Abstract

The conventional three-dimensional route planning method for unmanned aerial vehicle (UAV) in substation inspection aims at full track coverage, and the distance to avoid obstacles is long, which affects the efficiency of substation inspection. Therefore, a blind spot-free three-dimensional trajectory planning method for unmanned aerial vehicle (UAV) in substation inspection based on digital twinning is designed. Determine the three-dimensional route cost of unmanned aerial vehicle (UAV) in substation inspection, classify the danger level of obstacles in the route, and judge whether the planned route meets the requirements of substation inspection. Based on digital twinning, a three-dimensional trajectory planning model of unmanned aerial vehicle (UAV) for substation inspection is constructed. According to the constraints of UAV, the location of substation inspection track points is optimized to avoid obstacles and find the optimal inspection path. The three-dimensional track escape force of patrol UAV is added to help UAV escape from the local minimum state, make UAV return to the track planning state, and eliminate the influence of blind spot of UAV track on substation patrol. The comparative experiments show that this method has higher planning value and can be applied to real life.