UAV Track Planning of Electric Tower Pole Inspection Based on Improved Artificial Potential Field Method

The actual flying environment of quadrotor unmanned aircraft vehicle (UAV) is three-dimensional space, so this paper extends the traditional artificial potential field (APF) method from two-dimensional space to three-dimensional space. According to the influence range of obstacle on UAV, the repulsive function is modified, and the repulsive forces exerted by obstacles on UAV at different distances is divided. Then, the improved algorithm is compared with other improved artificial potential field methods in the same simulation environment. Finally, the proposed algorithm is applied in the environment of electric tower, the idea of traveling salesman problem (TSP) is used for reference, and sub target points are set in the simulation environment to help UAV better complete the inspection tasks. The results of two simulation experiments show that the improved algorithm overcomes the shortcomings of the traditional algorithm, and the generated track is shorter and more feasible.