Research On UAV Path Planning Of Transmission Line Inspection Considering Wind Field

Transmission lines are generally erected outdoors,and their components are exposed to the natural environment for a long time,so they are often affected by icing lightning,external force damage,mechanical tension and other conditions,resulting in hardware wear,corrosion,insulator self-explosion,conductor and ground wire broken strands and other issues.Therefore,it is necessary for the operation and maintenance personnel to carefully inspect the power-transmission equipment to find out the problems that may cause losses and eliminate them.The path planning for the professional inspection of transmission line and its components using unmanned aerial vehicles(UAVs)is to obtain a flight path from the starting point of UAV to all the target towers during the process of autonomous inspection of power transmission equipment by UAV,which meets some constraints and makes certain costs the least.Reasonable flight routes can further improve the efficiency of UAV inspection of transmission lines.However,the UAV is not only restricted by its own hardware,but also disturbed by external factors.At present,in the research of using UAV to obtain the operation information of transmission line,there are more researches on obstacle avoidance and independent tower,and few of them integrate wind field elements into the model However,the research shows that when the wind speed in the environment reaches a certain degree,effects on the movement and operation of UAV can not be ignored.For the sake of solving this problem,based on the existing research on UAV motion model and wind field properties,this paper constructs the VS-VRP model in wind field environment,that is,under the premise of considering the UAV’s endurance ability,the minimum cost path for UAV to complete the access to all towers in the target tower point set through several times of inspection and return to the starting point each time.Then,the vector triangle of wind speed,ground speed and airspeed of UAV is established,and the geometric relationship between them is clarified.The calculation method of ground velocity and flight cost of UAV in different wind conditions is obtained by fully considering different wind speed and wind direction and different motion modes of UAV.On this basis,firstly,dynamic programming algorithm is used to solve the optimal path of UAV in the small-scale inspection tasks such as special inspection and fault inspection of transmission lines.Then,the influence of environmental wind on UAV inspection path planning is analyzed with the control variable method,and a branch transmission network example is introduced to solve the problem.Finally,two kinds of centralized and radial transmission network inspection cases with different structure and large scale,which need UAV to carry out multiple inspections,are introduced in this paper.By designing real integer encoding and decoding mode,tournament selection operator,partial matching crossover operator,reverse mutation operator and recombination mode with elite reservation,the path planning schemes in different wind fields are calculated,and the UAV inspection path planning results in the same wind field environment are optimized.In this paper,experiments show that different wind field environment will have a greater impact on the flight path of UAV,so it is necessary to study the UAV inspection path planning considering wind field.