面向主干输电网架空设备巡检的无人机路径规划方法

UAV Path Planning Method for Overhead Equipment Inspection of Main Transmission Network

针对主干输电网架空设备巡检效率低、安全性差问题,提出基于遗传算法的巡检无人机路径规划方法。运用无人机定位与中心功能操作技术分析巡检路径信息,调节上位机和集中控制器的关系,创建巡检路径差异模型;充分发挥遗传算法优秀的全局搜索能力,计算最高线程距离、最小步长及最高路径偏移角收敛条件,把选择、交叉与变异看作基础算子,以最优适应度值作为路径最优解输出,实现可靠的无人机路径规划任务。仿真结果表明,所提方法可根据任务要求灵活规划不同类型路径,相较其他方法巡检规划路径最短,有效节省机动能耗,全局收敛性强。

Aiming at the problems of low efficiency and poor security of overhead equipment inspection in main transmission network,a path planning method of inspection UAV Based on genetic algorithm is proposed.The UAV positioning and central function oper-ation technology is used to analyze the patrol path information,adjust the relationship between the host computer and the central-ized controller,and create the patrol path difference model.It gives full play to the excellent global search ability of genetic algo-rithm,calculates the convergence conditions of maximum thread distance,minimum step size and maximum path offset angle,re-gards selection,crossover and mutation as basic operators,and takes the optimal fitness value as the output of path optimal solu-tion to realize the reliable UAV path planning task.The simulation results show that the proposed method can flexibly plan differ-ent types of paths according to the task requirements.Compared with other methods,the patrol planning path is the shortest,effec-tively saves mobile energy consumption and has strong global convergence.