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Path Planning of Flying Robot for Powerline Inspection Based on Improved Particle Swarm Optimization

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4 Author(s)
Chang-an Liu ; Sch. of Control & Comput. Eng., North China Electr. Power Univ., Beijing, China ; Hua Wu ; Guo-tian Yang ; Zhen-hua Wei

This paper presents a path planning method based on an improved particle swarm optimization for flying robot for overhead power line inspection after analyzing the shortcomings of traditional particle swarm optimization algorithm. It can be used in discrete and optimization fields through improving the update operator of the particle swarm optimization. This paper combines the characteristics of the flying robot for overhead power line inspection tasks and the properties of the particle swarm optimization algorithm, improves the fitness function and establishes the model of based on the particle swarm optimization. It unifies the extremes updated strategy research in path planning so as to deal with the flying robot for overhead power line inspection path planning better. Finally, the simulation and results analysis are conducted to verify that the path planning method is feasible and efficient.

Published in:

Intelligent System Design and Engineering Application (ISDEA), 2010 International Conference on  (Volume:2 )

Date of Conference:

13-14 Oct. 2010