Multi-rotor unmanned aerial vehicle inspection path planning method
A multi-rotor UAV, patrol path technology, applied in the direction of navigation calculation tools, etc., can solve the problem of little research on full coverage path planning methods
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[0065] The present invention will be further described below in conjunction with the accompanying drawings and specific preferred embodiments.
[0066] Such as figure 1 As shown, a multi-rotor UAV inspection path planning method is characterized in that: by taking the battery energy consumption and avoiding backlight cost as the objective function, the path planning is completed through the improved ant colony algorithm and the improved A* hybrid algorithm; specifically Proceed as follows:
[0067] Step 1. In order to ensure the safety and low energy consumption of inspections, establish the minimum objective function of battery energy consumption and avoid backlight cost;
[0068] Step 2, analyze the influencing factors that affect the energy consumption of the multi-rotor UAV inspection battery, and determine the hovering energy consumption and cruising energy consumption;
[0069] Step 3, determine the relationship between the sun illumination and the inspection track of ...
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