UAV Routine Optimization and Obstacle Avoidance Based on ACO for Transmission Line Inspection

In this paper, light fixed-wing medium-range Unmanned Aerial Vehicle (UAV) is equipped with infrared thermal imager and obstacle avoidance Lidar scanning equipment to transmission line inspection tasks. A mathematical model for the UAV is established to calculate the linear motion and the kinematic corner parameters, different array monitoring solutions are provided for single target and multiple targets. Intelligent algorithms are used to plan the optimal solution of UAV obstacle avoidance routes. Simulation results show that the optimal route can be quickly found when the number of iterations increases and suitable self-adaptive parameters are adopted, which shows the effectiveness of the route optimization.