Quadrotor drone electric tower inspection method based on movement learning
The invention discloses a quadrotor drone electric tower inspection method based on movement learning. The method comprises steps of firstly introducing a learning framework into three-dimensional movement of a quadrotor drone; using a first-time electric tower inspection flight task as a sample of...
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Format: | Patent |
Sprache: | chi ; eng |
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Zusammenfassung: | The invention discloses a quadrotor drone electric tower inspection method based on movement learning. The method comprises steps of firstly introducing a learning framework into three-dimensional movement of a quadrotor drone; using a first-time electric tower inspection flight task as a sample of the movement learning; extracting the movement base element based on a kinetic equation; based on the situation that the learned movement base element can be promoted to a new electric tower inspection flight task, generalizing a corresponding movement track; when an obstacle exists on a planned flight track, planning a three-dimensional obstacle avoiding track by designing a coupling factor on the basis of the existing learning; and finally using the obtained feasible inspection track for quadrotor drone autonomous flight. According to the invention, based on the quadrotor drone movement learning, three-dimensional track planning is performed on the new electric power inspection flight task based on the learned mo |
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