Real-time Obstacle Avoidance and Automatic Power Line Capture Control for De-icing UAVs

In this study, we address the issues of real-time obstacle avoidance path planning and trajectory tracking control for de-icing UAVs during autonomous flight, focusing on obstacle avoidance and automatic power line capture at cruising speeds. First, a real-time obstacle avoidance path planning algorithm based on collision avoidance forces is proposed, integrated with an automatic power line capture system to accurately locate the position of the wires, ensuring precise execution of flight and operational tasks by the UAV. The problem of trajectory time allocation and the numerical solution of the trajectory using the quasi-Newton method are analyzed to optimize path planning. To achieve precise tracking of the real-time obstacle avoidance trajectory and automatic power line capture, a hybrid position control algorithm and attitude control algorithm based on the L1 distance and TECS (Total Energy Control System) are developed. Finally, an online obstacle avoidance and power line capture simulation framework based on PX4 SITL (Software-in-the-Loop) is designed, and software-in-the-loop simulation experiments are conducted. The simulation results validate the effectiveness of the designed online obstacle avoidance path planning and power line capture algorithms, as well as the feasibility of the trajectory tracking algorithm.