Research On Route Planning Of Electric Power Line Patrol UAV

With the development of our country’s economy and society,it is urgent to improve the power supply capacity.In the process of electric power construction,the traditional manual inspection can not catch up with the development of electric power,therefore,the emerging unmanned aerial vehicle electric inspection technology will become the current research hotspot.The inspection of the transmission line by UAV requires the technicians to have high operation skills.If the automatic inspection of UAV can be realized,the cost of inspection will be reduced and the efficiency of inspection will be further impr oved.However,the flying environment of the UAV in the electric power patrol mission area is very complex,which aggravates the difficulty of the UAV patrol.Therefore,in order to ensure the successful completion of the mission,one of the key technologi es that must be addressed is how drones can automatically avoid power lines and obstacles around them.In this paper,the UAV route planning is divided into global route planning and local route re-planning to achieve autonomous obstacle avoidance in the background of power inspection.The main research content of the article is as follows.Firstly,the power line patrol problem of UAV is analyzed,and the task is clearly planned and the UAV type is selected.Digital Elevation Model is used to build 3 D environment model of UAV,including terrain model and mountain model,which lays a foundation for the research of UAV power inspection.Secondly,a route planning model based on PSO is established in 3D environment model.In order to overcome the shortcomings of PSO,a new algorithm called " Beetle Antennae Search Algorithm" is introduced,which uses the characteristic of beetle to search the smell,and adds the function of neighborhood search to the particles in the PSO,which improves the updating criterion of PSO,and speeds up the iterative convergence,it reduces the probability that the algorithm falls into the local optimal solution,and improves the patrol efficiency and success rate of UAV route planning.In the three-dimensional track model,the global track of UAV is smoothed by using the convenient characteristic of B-spline curve.Finally,when the UAV encounters sudden obstacles in the process of line patrol mission,the UAV can avoid obstacles by studying local reprogramming algorithm.Aiming at th e defects of the artificial potential field method,the potential field function is improved,and the validity of the improved algorithm is verified by two-dimensional planar simulation.The improved algorithm is applied to UAV power inspection to solve the static threat and dynamic threat during the UAV power line patrol flight.The simulation results show that the improved algorithm can satisfy the real-time and feasibility of UAV power inspection.The paper has 60 figures,7 tables and 74 references.