基于LLM的智能辅助无人机巡检路径自动寻优

LLM-based Intelligent Assistance for Automatic Optimization of UAV Inspection Paths

  • 摘要: LLM的智能辅助无人机巡检路径自动寻优方法。通过Swarm改进算法,将高层次指令转化为巡检路径寻优步骤,完成任务 分配,生成LLM巡检任务规划框架。结合规划链完成任务分解,构建巡检路径任务规划提示工程,完成逻辑任务分解;生 成巡检路径自动寻优代价函数与巡检障碍物限制空间,在满足偏航角与俯仰角基础上构建无人机巡检路径自动寻优模型。 试验结果表明:应用该方法后,在不同视点坐标下的巡检路径正/负向视点误差始终较低,未出现大幅度寻优波动,说明 该方法具有高可靠性。

     

    Abstract: series of subtasks,resulting in high viewpoint position errors,proposes an intelligent assisted unmanned aerial vehicle inspection path automatic optimization method based on an LLM. Through Swarm,high-level instructions are transformed into inspection path optimization steps to complete task allocation and generate the LLM inspection task planning framework. Combine the planning chain to complete task decomposition,construct inspection path task planning prompt engineering, and complete logical task decomposition;generate the cost function for automatic optimization of the inspection path and the obstacle restriction space for inspection. Based on satisfying the yaw and pitch angles,construct an automatic optimization model for the drone inspection path. The experimental results show that after applying this method,the positive/negative viewpoint errors of the inspection path under different viewpoint coordinates are always low,and there is no significant optimization fluctuation,indicating that this method has high reliability.

     

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