Abstract
To accurately complete the inspection task of transmission lines, a UAV inspection trajectory planning method for high-precision tower models is discussed. By using GIM three-dimensional modeling technology, high-precision models of power towers and transmission lines are obtained, and then the coordinates of target points during the UAV inspection process are obtained. A target model based on the inspection point coordinates is established to plan the trajectory path. A trajectory planning model based on particle swarm algorithm and beetle whisker algorithm is established to improve the algorithm model’s ability to escape from difficulties. In response to sudden obstacles during UAV inspections, a wall-walking strategy is introduced to prevent UAVs from falling into static traps. Through experimental verification, the improved algorithm can effectively reduce the flight distance by 2.81[Formula: see text]km and improve the efficiency of UAV operation. The verification of sudden static and dynamic threats has been conducted, and the experimental results show that this method can effectively ensure the effectiveness of the UAV power inspection process.
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