Based on bridge detection UAV's path planning and analysis of wind field under bridge based on bridge detection

In this paper, a full-coverage path planning method is designed for bridge detection based on element decomposition in view of the high cost and long cycle of traditional bridge detection methods and the high safety risk of operators. We firstly analyze the wind field under the bridge and obtain the maximum wind speed that makes the UAV fly safely under the bridge. Secondly, the environment model of the bridge bottom is built using the grid method and the corresponding attributes for grids is given. Then the search space is decomposed into multiple sub-regions by the unit decomposition method, and the sub-regions are covered and traversed by the two-point method and the binary tree search strategy. Finally, simulated experiment is implemented. The results show that the bridge detection UAV can realize the full coverage traversal of the bridge bottom.