Laser SLAM Based Obstacle Avoidance Technology of UAV for Cable Trench Inspection

CHEN Lei; XU Chongyou; GAO Wenting; WANG Shuo; LIU Yue’e; LI Zhengrong

doi:10.13296/j.1001-1609.hva.2018.09.033

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Laser SLAM Based Obstacle Avoidance Technology of UAV for Cable Trench Inspection

更新时间：2025-04-26

- Laser SLAM Based Obstacle Avoidance Technology of UAV for Cable Trench Inspection
- High VoltageApparatus Vol. 54, Issue 9, Pages: 209-213+220(2018)
- 作者机构：
  
  1. 国家电网浙江省电力公司
  2. 中能国研(北京)电力科学研究院
  3. 国家电网山东省电力公司电力科学研究院
  4. 北京星闪世图科技有限公司
- 作者简介：
- 基金信息：
- DOI：10.13296/j.1001-1609.hva.2018.09.033
  CLC： TM75
- Published：2018
- 稿件说明：
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[1]陈蕾,徐重酉,高文婷,王硕,刘月娥,李峥嵘.基于激光SLAM技术的电缆沟道无人机巡检避障技术研究[J].高压电器,2018,54(09):209-213+220.

CHEN Lei, XU Chongyou, GAO Wenting, et al. Laser SLAM Based Obstacle Avoidance Technology of UAV for Cable Trench Inspection[J]. High voltageapparatus, 2018, 54(9): 209-213+220.
[1]陈蕾,徐重酉,高文婷,王硕,刘月娥,李峥嵘.基于激光SLAM技术的电缆沟道无人机巡检避障技术研究[J].高压电器,2018,54(09):209-213+220. DOI： 10.13296/j.1001-1609.hva.2018.09.033.

CHEN Lei, XU Chongyou, GAO Wenting, et al. Laser SLAM Based Obstacle Avoidance Technology of UAV for Cable Trench Inspection[J]. High voltageapparatus, 2018, 54(9): 209-213+220. DOI： 10.13296/j.1001-1609.hva.2018.09.033.

摘要

电力电缆沟道位于地下空间

持续潮湿高温

且沟道存在很多障碍物譬如电缆架

这些客观环境条件限制使得对无人机的体积、导航、定位和避障能力都有很高的要求。电缆沟道位于地下空间

且存在着上下坡和拐弯

沟道内很难接受到GPS信号。因此

电缆沟道内的巡检和地面上的输电线路巡检方式完全不一样

需要开发独特的方法用于沟道巡检。文中设计了一种基于激光雷达SLAM的方法

实现在复杂的沟道内无人机自适应控制和实时避障

并对提出的技术进行测试和验证。

Abstract

It is very demanding on navigation

location and obstacle avoidance ability for UAV to execute cable tun-nel inspection because underground cable trench is with heat and humidity

and narrow containing many obstaclessuch as cable cable racks. In addition

cables are laid underground in the tunnel where there are existing up anddown slopes and bends

and it is hard to get GPS signal. Therefore

it is necessary to develop special techniques forUAV-based underground cable trench inspection. In this research

a laser SLAM based technology was designed foradaptive control and real-time obstacle avoidance of UAV in the complex cable trench environment

and this technol-ogy was tested and verified via the real cable trench inspection.

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