基于无人机协同编队控制的铁路智能巡检方法

doi:10.3969/j.issn.1673-4440.2025.02.002

铁路通信信号工程技术 ›› 2025, Vol. 22 ›› Issue (2): 11-17,70.DOI: 10.3969/j.issn.1673-4440.2025.02.002

基于无人机协同编队控制的铁路智能巡检方法

李浩¹，牛洪蛟²，李夏洋¹，袁小芳³

1．通号低空智能科技有限公司，北京 100070；
2．通号通信信息集团有限公司，北京 100070；
3．湖南大学电气与信息工程学院，长沙 410082

收稿日期:2024-12-13 修回日期:2025-01-07 出版日期:2025-02-25 发布日期:2025-02-25
作者简介:李浩（1991—），男，工程师，硕士，主要研究方向：人工智能与云计算、无人机集群控制，邮箱:lihao6@crsc.cn
基金资助:
国家自然科学基金项目（62473140）

Intelligent Railway Inspection Method Based on UAV Cooperative Formation Control

Li Hao¹, Niu Hongjiao², Li Xiayang¹, Yuan Xiaofang²

1. CRSC Low-altitude Intelligence Technology Co., Ltd., Beijing 100070, China；
2. CRSC Communication & Information Group Company Ltd., Beijing 100070, China；
3. College of Electrical and Information Engineering, Hunan University, Changsha 410082, China

Received:2024-12-13 Revised:2025-01-07 Online:2025-02-25 Published:2025-02-25

摘要/Abstract

摘要： 铁路运输网络的快速发展，铁路巡检对智能化和高效性提出更高要求。提出一种基于无人机协同控制的巡检方法，旨在解决铁路安全保护区限制下的侧飞侧视探测问题。通过设计编队控制模型和优化协同算法，实现巡检任务的高精度覆盖与路径跟踪。理论建模与仿真实验验证表明，该方法在编队路径跟踪控制方面表现优异。此外，该方法具备良好的通用性，可进一步扩展至高速公路、油气输送管道等带状基础设施的巡检应用，为其智能巡检提供高效解决方案。

关键词: 无人机协同巡检, 铁路巡检, 编队控制, 带状基础设施巡检, 协同路径跟踪

Abstract: With the rapid development of railway transport networks, higher demands are placed on the intelligence and efficiency of railway inspections. This paper proposes an inspection method based on UAV cooperative control to address side-flying and side-view detection challenges under railway safety zone constraints. By designing a formation control model and optimizing cooperative algorithms, the proposed method achieves precise coverage and path tracking for inspection tasks. Theoretical modeling and simulation testing validate its superior performance in formation path tracking control. Furthermore, the proposed method demonstrates strong versatility and can also be applied to inspections of strip-shaped infrastructures, such as highways and oil and gas pipelines, providing an efficient solution for intelligent inspection tasks.

Key words: UAV cooperative inspection, railway inspection, formation control, inspection of strip-shaped infrastructure, cooperative path tracking

中图分类号:

李浩, 牛洪蛟, 李夏洋, 袁小芳. 基于无人机协同编队控制的铁路智能巡检方法[J]. 铁路通信信号工程技术, 2025, 22(2): 11-17,70.

Li Hao, Niu Hongjiao, Li Xiayang, Yuan Xiaofang. Intelligent Railway Inspection Method Based on UAV Cooperative Formation Control[J]. Railway Signalling & Communication Engineering, 2025, 22(2): 11-17,70.

图/表 5

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基于无人机协同编队控制的铁路智能巡检方法

Intelligent Railway Inspection Method Based on UAV Cooperative Formation Control

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