Optimal Smooth Coverage Trajectory Planning for Quadrotors in Cluttered Environment

In recent years, with the rapid development of manufacturing industries, unmanned systems have found widespread applications across various fields. Among them, quadro-tors have been increasingly utilized in industrial applications such as aerial photography and surveying [1]. As electricity consumption continues to rise, the frequency of power grid maintenance has also increased. Given the high risks and costs associated with manual inspections, the importance of utilizing unmanned systems for autonomous power grid inspections has become increasingly evident [2], as shown in Fig 1. Substations, as critical components of the power grid system, play an essential role in ensuring seamless inspection across modules within the same facility or between different facilities. The units scheduled for inspection can be abstracted as a series of access points, with drones acting as agents tasked with visiting these points.