Path Optimization of UAV Inspection Suspended Track Based on Global and Local Methods
Wenbo Li, Kuangang Fan, Weibing Xiao, Xin He · 2024
Suspended monorail transit is a special urban rail transit system, which has the advantages of short construction period, low cost, green energy saving and so on. However, because its track and trackside equipment are exposed for a long time, it is easy to rust or even break. In order to ensure safety, it is necessary to conduct regular inspection. In this paper, a method of detecting suspended track by UAV is proposed, a global path model of UAV inspection problem is established, and the inspection path is optimized by brain storm optimization (BSO) algorithm. Then, a backtracking rapidly-exploring random tree star (B-RRT*) algorithm is proposed to solve the local obstacle avoidance path between detection points. The performance of B-RRT* algorithm and RRT* algorithm is compared. The comparison results show that B-RRT* algorithm can get better detection path in a shorter time. Finally, the actual inspection test is carried out, and the results show that compared with the traditional manual inspection method, the UAV inspection method proposed in this paper can complete the inspection task more safely and efficiently, and the effectiveness of the UAV inspection method is verified.