摘要
以提升固定翼无人机(UAV)输电线路巡检避障能力、缩减巡检路径长度为目标,提出基于改进粒子群算法的输电线路固定翼UAV多目标巡检线路优化方法。以最小化线路长度和线路威胁作为目标函数,结合航迹段的长度约束和最大转弯角度约束,构建固定翼UAV多目标巡检线路优化模型。将多目标函数作为粒子群优化算法的适应度函数,找出最优输电线路巡检线路。创新性地通过调整粒子群算法惯性权重,引入相邻适应度函数值比较策略、遗传算法的杂交运算,优化生成UAV多目标巡检线路。试验结果表明,该方法可以对巡检范围内存在的所有障碍物进行有效规避。巡检线路可以覆盖巡检范围内所有输电线路。100 m2范围内航迹点设置为25个时,优化效果最适宜。
With the goal of improving the obstacle avoidance ability of fixed-wing unmauned aerial vehicle(UAV) transmission line inspection and reducing the length of inspection path, a multi-objective inspection routes optimization method of fixed-wing UAV for transmission line based on improved particle swarm algorithm is proposed. Taking the minimization of line length and line threat as the objective function, combined with the length constraints of the trajectory segment and the maximum turning angle constraints, the fixed-wing UAV multi-objective inspection routes optimization model is constructed. The multi-objective function is used as the fitness function of the particle swarm optimization algorithm to find out the optimal transmission line inspection routes. Innovatively, by adjusting the inertia weights of particle swarm algorithm, introducing the strategy of comparing the values of adjacent fitness functions, and hybridization operation of genetic algorithm, the multi-objective inspection routes of UAV is optimally generated. The experimental results show that the method can effectively avoid all the obstacles existing in the inspection range. The inspection routes can cover all transmission lines within the inspection range. The-optimization effect is most appropriate when the trajectory points within a hundred square meters are set to 25.
作者
程登峰
林世忠
尚文迪
CHENG Dengfeng;LIN Shizhong;SHANG Wendi(Xuancheng Power Supply Co.,Ltd.,State Grid Anhui Power Co.,Ltd.,Xuancheng 242000,China;Anhui Power Transmission and Transformation Engineering Co.,Ltd.,Hefei 230000,China)
出处
《自动化仪表》
CAS
2023年第12期21-25,共5页
Process Automation Instrumentation
关键词
固定翼无人机
输电线路
巡检线路优化
目标函数
粒子群算法
惯性权重
Fixed-wing unmauned aerial vehicle(UAV)
Transmission line
Optimization of inspection routes
Objective function
Particle swarm algorithm
Inertia weight
作者简介
程登峰(1980-),男,硕士,高级工程师,主要从事电气工程方向的研究,E-mail:wsdming33@163.com。
