A genetic algorithm-based research on drone trajectory planning strategy of cooperative inspection of transmission lines, substations and distribution lines

Abstract

At present, the traditional Unmanned Aerial Vehicle (UAV) power line inspection project mainly uses UAV to carry out inspection on transmission lines, substations and distribution lines. However, the traditional way has some problems such as fixed power lines and single inspection target. And because of the independence of power transmission, transformation and distribution departments, the total demand for UAV and UAV controllers is large, and it is difficult to realize the integration of equipment, personnel and technology. In order to further improve the level of lean management, maintenance efficiency of the whole system of transmission, transformation and distribution, and realize scheduling UAV inspection tasks autonomously, this paper establishes a mathematical model based on the genetic algorithm, taking the UAV inspection route planning as the core problem, and taking the shortest total route as the objective function, and iteratively calculates the collected data through the genetic algorithm to obtain the optimal solution, which is finally concluded by analysis and conclusion. By using this model algorithm to plan the route of multi-professional UAV inspection, the total route of UAV inspection has been dramatically reduced, human resources have been reasonably allocated, and the power line inspection has become comprehensive and efficient. Regarding the emergency response speed of UAV inspection, this study selects the nearest nest response to make the nests interact with each other. The hangars that intersect within the coverage can be intelligently coordinated through the task priority to achieve the fastest and most appropriate automatic execution of UAV tasks and effectively improve emergency response efficiency.

Research on task path planning method for substation inspection robot and UAV based on genetic algorithm

“…In addition, due to the harsh geographical and climatic conditions in many substations, it is difficult for manual inspections to achieve effective inspection work [1] . Under the guidance of Industry 4.0 and smart grid policies, the research on substation inspection robots has rapidly developed, and the main task of their path planning is to carry out global planning in an environment with known obstacles [2] . At present, the main methods involved in environmental modeling for global path planning problems include visual graph, free space approach, and grids; The main methods of path search strategy include Dijkstra algorithm, Rapid exploring Random Tree (RRT) algorithm, Probabilistic RoadMap (PRM) algorithm [3] , A× Algorithms [4] , etc.…”