Research On Route Planning Problem Of Vehicle And Its Mounted Unmanned Aerial Vehicle With Wire Line Inspection

With the development of drone technology,the application of drones to power inspection has become an inevitable development trend.However,the application of drones in power inspection also impacts the traditional power inspection mode,which brings many challenges to power inspection.The drone has the advantages of high maneuverability,convenient operation,high inspection efficiency,and can effectively avoid casualties.Therefore,the mode of drone power inspection will replace the traditional manual power inspection mode.In the mode of power inspection by drones,the vehicle is usually driven by drones to the vicinity of the grid,and then released.The man-machine performs a circuit check and returns to the vehicle for replenishment after the drone runs out of power.In this mode,the vehicle acts as a platform for the drone,and plays the role of transporting the drone to assist the drone to complete the inspection work.Based on such a model,we propose a two-layer arc path optimization problem for vehicle drones.In this paper,the research on the double-arc path optimization problem of the vehicle-mounted drone is carried out,and the following aspects are mainly completed:First,this paper analyzes the particularity of the power inspection problem,which is different from the traditional vehicle drone path optimization problem,because during the inspection process,the drone is flying along the power grid,and the drone is once every time.The flight is an arc path and the drone can leave the grid at any point on the grid.The patrol mode in which the vehicle and the drone cooperate to perform the power inspection is a brand new attempt,which will lead to a series of operational optimization problems.Since there is no model suitable for this problem at present,based on the above characteristics,we combine the path planning problem of the vehicle drone and the arc routing problem to establish a mathematical model suitable for the power inspection of the vehicle drone.Second,a heuristic algorithm for solving this problem is designed.The road network map of Ji'an City,Jiangxi Province and the data of 110 kv,220kv and 550 kv grid maps were extracted.According to the three grid maps,the application cases of large,medium and small scales were designed,and the designed heuristic algorithm was applied.In these three cases,it is used to quickly solve a feasible solution.In this paper,a heuristic algorithm based on the number of segmentation nodes,a heuristic algorithm based on bisection cut,and a heuristic algorithm based on segmentation gap are designed.The feasible solution can be quickly constructed by heuristic algorithm in a few seconds.Through the test of the above three cases,the efficiency of the three heuristic algorithms under different scale data is compared.Thirdly,in the case of loose solution time,a simulated annealing algorithm that can solve the problem is designed to improve the initial solution obtained by the heuristic algorithm.According to the particularity of the problem,five kinds of operators suitable for this model are designed,and the simulated annealing algorithm is improved according to the five operators.Through the test of the actual road network,the efficiency of the simulated annealing algorithm under different data sets is compared.The improvement efficiency of the simulated annealing algorithm is between 20% and 50%.Finally,the military field research on this issue was analyzed,the main points of the research were summarized,and hypotheses were made for subsequent research.