Unmanned aerial vehicle path planning algorithm for detecting power tower insulator

The invention discloses an unmanned aerial vehicle path planning algorithm for detecting an insulator of a power tower, and belongs to the technical field of fault detection. Comprising the following steps: 1, carrying out point cloud modeling on the power tower; and 2, unmanned aerial vehicle laser point cloud positioning. And 3, obstacle identification and classification: dividing obstacles into three types of power lines, insulators and tower bodies. And 4, setting expansion radiuses for different types of obstacles according to danger levels and detection levels. And 5, establishing a linear function for each insulator. And 6, establishing a path planning objective function based on multi-objective optimization, and adding a plurality of constraints in the objective function, including an anti-collision constraint, an insulator parallel constraint, an insulator detection angle maximization constraint and an insulator detection number ratio maximization constraint. And 7, solving the objective function, an