학술논문
面向多目标联合电力巡检的车载无人机协同巡检路径规划方法 / Cooperative Inspection Path Planning Method for Multi-Objective Joint Power Inspection by Vehicle-Mounted UAV
Document Type
Academic Journal
Author
梁华尘; 周稳; 倪旭东; 胡康生; 王倩倩; 周智博; LIANG Huachen; ZHOU Wen; NI Xudong; HU Kangsheng; WANG Qianqian; ZHOU Zhibo
Source
南方电网技术 / Southern Power System Technology. 17(11):138-147
Subject
Language
Chinese
ISSN
1674-0629
Abstract
为了应对"碳达峰碳中和"新形势下日益严峻的输电线路电力巡检任务,以及针对现有对多目标联合电力巡检研究的不足和实际场景下无人机可悬停等待这一情形缺乏考虑等情况.在考虑电力杆塔和电力线路多目标联合电力巡检的基础上,提出了基于"图论"理论的车载无人机协同巡检路径规划方法.首先,考虑到电力巡检中无人机弧路由和巡检车节点路由相关特点,结合改进中国邮递员问题,设计了基于离散杆塔分割弧算法,以快速求得较优的协同巡检路径初步规划方案,并对比分析了不同场景下不同策略和自然灾害条件下对结果造成的影响.其次,考虑到初步规划方案并非全局最优解,设计了一种符合该研究的模拟退火算法,对初始规划方案进一步优化.最后通过算例验证了路径规划方法的有效性和实用性.
In order to cope with the increasingly severe power inspection task of transmission lines under the new situation of"Carbon Peak and Carbon Neutral",as well as the lack of consideration for the existing research on multi-objective joint power inspection and the lack of practical scenarios in which unmanned aeriel vehicles(UAVs)can hover and wait.This paper proposes a cooperative inspection path planning method for vehicle-mounted UAVs based on the"graph theory"theory,considering the joint power inspec-tion of power towers and power lines with multiple targets.Firstly,considering the characteristics related to UAV arc routing and inspection vehicle node routing in power inspection,combined with the improved Chinese mailman problem,the discrete tower split-ting arc algorithm is designed to quickly obtain a better preliminary planning scheme for cooperative inspection paths,and the impact on the results under different strategies and natural disaster conditions in different scenarios are compared and analyzed.Secondly,considering that the initial planning scheme is not a global optimal solution,this paper designs a simulated annealing algorithm that is consistent with this study to further optimize the preliminary planning scheme.Finally,the effectiveness and practicality of the path planning method are verified by arithmetic examples.
In order to cope with the increasingly severe power inspection task of transmission lines under the new situation of"Carbon Peak and Carbon Neutral",as well as the lack of consideration for the existing research on multi-objective joint power inspection and the lack of practical scenarios in which unmanned aeriel vehicles(UAVs)can hover and wait.This paper proposes a cooperative inspection path planning method for vehicle-mounted UAVs based on the"graph theory"theory,considering the joint power inspec-tion of power towers and power lines with multiple targets.Firstly,considering the characteristics related to UAV arc routing and inspection vehicle node routing in power inspection,combined with the improved Chinese mailman problem,the discrete tower split-ting arc algorithm is designed to quickly obtain a better preliminary planning scheme for cooperative inspection paths,and the impact on the results under different strategies and natural disaster conditions in different scenarios are compared and analyzed.Secondly,considering that the initial planning scheme is not a global optimal solution,this paper designs a simulated annealing algorithm that is consistent with this study to further optimize the preliminary planning scheme.Finally,the effectiveness and practicality of the path planning method are verified by arithmetic examples.