Bridge detection unmanned aerial vehicle autonomous navigation and stability control method based on reinforcement learning
A stability control method and bridge detection technology, applied in three-dimensional position/channel control, attitude control, non-electric variable control and other directions, can solve the problems of lack of positioning signals under the bridge, unable to stabilize flight control, etc., and achieve fast and stable flight control. Effect
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[0052] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0053] The invention provides a bridge detection UAV autonomous navigation and stability control method based on reinforcement learning, which specifically includes the following steps:
[0054] Step 1: Carry out dynamic modeling of the bridge inspection UAV based on the Newton-Euler method;
[0055] Step 2: Autonomous obstacle avoidance of bridge detection UAV based on neural network reinforcement learning;
[0056] Step 3: Design the binocular vision and IMU combined autonomous navigation algorithm under BIM;
[0057] Step 4: Design a stable control scheme for the bridge detection UAV under the interference of strong wind field.
[0058] In some embodiments, in step 1, it is necessary to carry out a dynamic model to the detection bridge detection UAV:
[0059] Considering that the bridge detection UAV is a nonlinear, strongly coupled, un...
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