面向输电网络巡检的无人机轨迹规划

UAV Trajectory Planning for Transmission Network Inspection

无人机凭借其高机动性而被广泛应用于各类工业场景。研究了一个针对由多个塔杆及其连接的输电线路组成的输电网络无人机巡检系统。考虑到无人机具有有限电量的问题,导致其在巡检过程需要多次返回基地充电。为了最小化无人机的单次巡检时长,建立了一个无人机轨迹规划问题。该问题的求解难点包括如何权衡电量限制对轨迹规划的影响、轨迹是连续变量且建模问题非凸等。为解决这些难题,首先分析了任务的特性,对无人机连续轨迹变量进行离散化处理,并针对离散化轨迹设计问题的特点,在传统蚁群算法的基础上引入面向巡检任务的电量限制处理策略,最终迭代优化得到次优解。仿真结果表明,所提出轨迹离散方法和基于改进的蚁群算法能够实现高效的巡检轨迹规划。

Unmanned aerial vehicles(UAVs)are widely utilized across various industrial scenarios due to their high maneuverability.This considers a UAV inspection system designed for transmission networks composed of multiple towers interconnected by power lines.Considering the constraint of limited battery capacity for UAVs,necessitates periodic return to the base for recharging during inspection missions,this paper establishes a UAV trajectory planning issue in order to minimize the UAV's single inspection time.The complexity of this issue arises from the need to balance the impact of battery constraints on trajectory planning while continuous trajectory variables and non-convex modeling issues are handled.In order to overcome these challenges,the paper first analyzes the characteristics of the task,discretizes the continuous trajectory variables of the UAV,and then aims at the characteristics of the discretized trajectory design problem to introduce the battery limit processing strategy oriented to the inspection task on the basis of the traditional ant colony algorithm,with a final sub-optimal solution obtained by iterative optimization.Simulation results demonstrate that the proposed trajectory discretization method and the use of the improved ant colony algorithm can effectively achieve efficient inspection trajectory planning.