Optimal path planning for emergency inspection of large-scale transmission lines considering complex terrain

Abstract

In practice, some large-scale transmission line emergency inspection optimal path planning methods have the drawback of too high percentage of failed nodes. A large-scale transmission line emergency inspection optimal path planning method considering complex terrain is designed. The electromagnetic field parameters of large-scale transmission lines are calculated, combined with the generalized equation and the corresponding constraints to obtain the full current law of transmission lines, construct an obstacle ranging model based on complex terrain, adopt a redefinition of the electric field safety threshold to achieve the purpose of transmission conductor obstacle avoidance, assign discrete points centrally in a simulated manner, and design an optimal path planning method for emergency patrol. Simulation experiment results: the optimal path planning method for large-scale transmission line emergency inspection in the paper, and the other two optimal path planning methods for large-scale transmission line emergency inspection have inspection route distances of 107.064m, 139.795m and 133.105m respectively. This indicates that the optimal path planning method for large-scale transmission line emergency patrol, designed after taking into full consideration the complex terrain, and is more practical.