Path Planning of Flying Robot for Overhead Powerline Inspection Based on Key Points Algorithm

This paper provides a method for flying robot path planning for overhead powerline inspection which based on the unmanned micro-helicopter model. The robot coordinate system is set up to solve position of the unknown and dynamic obstacles in the robot coordinates. This paper presents the key points algorithm for the path planning which generates new key points through real-time information and data that detected by sensors in unknown environment. The algorithm has good convergence which can be used effectively in unknown dynamic vast environment, and can inspect power lines equipment and location of key areas effectively under the safety of the robot. The simulation results of f path planning of flying robot for overhead powerline inspection based on key Points algorithm prove the feasibility and validity of the algorithm.