Research On Path Planning Of 220kV Power Line Inspection UAV

With the rapid development of China s economy and the increase of the demand for electricity in industry and life,the transmission lines are growing rapidly,so that the traditional manual inspection is facing the contradiction between safety and efficiency.With the development of science and technology,gyroplane UAV has been widely used in the inspection of transmission lines with the advantages of dexterity,taking off and landing in complex environment,hovering at fixed points,low cost and high inspection efficiency.It is very important to plan the path of the rotorcraft before the inspection.In view of the above links,this paper proposes different path planning algorithms for tower inspection and power line inspection.(1)According to the tower design specification manual and various parameters,three-dimensional modeling is carried out for the common 220 kV linear tower in the transmission line,which provides the support of model and inspection point for the tower path planning in the following paper.(2)The path planning of the gyroplane UAV to the electric tower is converted into a traveling salesman problem,and then the parameters in the ant colony algorithm are optimized under the electric tower environment to obtain a path more suitable for electric tower inspection.(3)For the inspection of power lines,according to the complexity of the inspection environment,Bi-RRT algorithm with artificial potential field is used to plan the inspection path,and compared with RRT algorithm and Bi-RRT algorithm to prove that the Bi-RRT algorithm with artificial potential field is improved in the length of inspection path,the number of sampling points and planning time.