Research On Path Planning Method Of UAV For Oilfield Inspection

In recent years,the unmanned aerial vehicle(UAV)inspection technology has attracted a growing number of attentions from enterprises duo to it has advantages of high flexibility,low cost and high efficiency,which has been wildly applied in many fields,such as: electricity,environmental protection,agriculture and transportation.Path planning is one of most crucial links in the UAV inspection.With the increase of oilfield production,the expansion of production scale,the complicated oilfield environment and task requirement,the traditional manual inspection method has been difficult to meet the management requirement of oilfield.Therefore,it is of great necessity to study the path planning method for UAV oilfield inspection based on the requirement of the oilfield industry.In the UAV based inspection technology,UAV needs to plan an optimal or near-optimal route from a start point to a destination point automatically;and meanwhile the UAV is required to fly over different task points by avoiding different obstacles,which is one of the key problem in the UAV inspection technology.In this paper,the path planning method based on the background of the oilfield inspection for different problems are shown as follows:Firstly,the oilfield environment modeling is studied.In order to better describe the complex oilfield environment,the geometric description method is used to transform obstacles into solid figures with equal proportion,so that the three-dimension simulation environment modeling is established according to oilfield environment.In the next place,due to there are a lot of dynamic obstacles in the process of oilfield inspection,it brings new challenged to the oilfield inspection.For the path planning problem based on single UAV in dynamic oilfield environment,the cost function and related constraints are determined by the requirement of UAV inspection,as well as the moving mode of dynamic obstacles are set in the oilfield environment.And then a PIOFOA algorithm is proposed to solve the path planning problem for UAV with dynamic environment.Finally,the oil field environment is complex,and the control center will add new task points due to temporary scheduling problems in the inspection process.Due to the numerous tasks and priority sequence,it is difficult for a single UAV to meet the task requirements.Withal,for the path planning problem based on multi-UAV oilfield inspection with dynamic changed task,a task assignment method is proposed to determine the initial number of UAV and initial task sequence.In the UAV oilfield inspection,the dynamic changed tasks will occur based on the temporary dispatching,in order to improve the efficiency of the oilfield inspection,a rapid task assignment method is proposed to handle this problem.The cost function and related constraints are determined by the requirement of UAV inspection.And then an ORPFOA algorithm is proposed to handle the multi-UAV path planning problem with dynamic changed tasks.