An Efficient Path Planning Method for the Unmanned Aerial Vehicle in Highway Inspection Scenarios

Abstract

Unmanned aerial vehicles (UAVs) have received widespread attention due to their flexible deployment characteristics. Automated airports equipped with UAVs are expected to become important equipment for improving quality and reducing costs in many inspection scenarios. This paper focuses on the automated inspection business of UAVs dispatched by automated airports in highway scenarios. On the basis of considering the shape of highway curves, inspection targets, and the energy consumption characteristics of UAVs, planning the flight parameters of UAVs is of great significance for ensuring the effectiveness of the inspection process. This paper first sets the inspection path points for the UAV based on highway curves, and then proposes an efficient heuristic method for the nonlinear non-convex parameter optimization problem, through which the parameters of the UAV’s inspection altitude, hovering altitude, and flight speed are planned. Simulation and analysis show that the proposed method possesses good parameter planning efficiency. By combining several existing trajectory planning methods, e.g., the traversal method, the deep Q-network based method, and the genetic method, it can be concluded that the proposed method in this paper has better overall planning performance including planning efficiency and inspection effectiveness.