Cooperative control method of transmission line inspection UAV cluster based on hybrid networking technology

Abstract

With the progress of technology, inspection UAV clusters oriented to collaborative control are increasingly widely used in electric power inspection with the advantages of information sharing, task collaboration and multiplication of effectiveness. This paper proposes a hybrid cluster access selection algorithm for transmission line (QS) assurance of electric power business based on analyzing the differentiated needs of the electric power business. The entropy power method calculates objective weights for transmission line inspection, and the game theory is used to fuse the subjective and objective weights to determine the comprehensive weights. Secondly, the cooperative control rate is designed for the power inspection UAV cluster, and a set of cooperative control management systems for the power inspection UAV cluster is designed and implemented through detailed requirement analysis. The results show that the cooperative control of UAV cluster based on hybrid networking MAC protocol reduces the average time of path planning by 36.08s, increases the average path length by 7.30m, and reduces the average number of sampling points by 21.4% compared with RRT algorithm. The transmission line inspection UAV cluster cooperative control proposed in this paper can effectively and quickly detect faults on transmission lines and maximize the network utility function value, thus providing the optimal network access selection scheme for each power transmission.