Unmanned aerial vehicle bridge floor coverage motion planning method

• Main Authors: MA JIE, HE FENGHUA, LI YUANHONG, YAO HAODI, HAO NING
• Format: Patent
• Language: Chinese; English
• Published: 08.06.2021
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention discloses an unmanned aerial vehicle bridge floor coverage motion planning method, belongs to the technical field of unmanned aerial vehicle control, and aims to solve the motion planning problem that an unmanned aerial vehicle stably completes the full coverage of the bridge floor and meets the coverage resolution requirement in an automatic detection task of a bridge surface. The method comprises the following steps of firstly, establishing a geographic coordinate system, an airframe coordinate system and a bridge floor coordinate system, giving a measurement model of an airborne camera, and giving the definitions of a coverage space, a coverage surface and the coverage resolution; secondly, decomposing a topological structure of the bridge floor by adopting a linear scanning form, and determining a bow-shaped coverage path for each decomposition unit; then determining the coverage sequence of the units by adopting an integer optimization method; then giving two mathematical descriptions of th