输电线路无人机巡检路径规划研究
Research on Path Planning for UAV Inspection of Transmission Lines*
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摘要: 随着电力系统智能化发展,无人机巡检成为输电线路运维的重要手段,但在复杂电场环境中,其路径规划的安全性和高效性仍面临挑战。通过将输电线路等效为点电荷分布模型,计算空间电场分布,并结合粒子群优化算法设计基于电场信息的无人机路径规划方法。通过构建目标函数,综合考虑路径长度、平滑性和电场强度约束,有效避让危险电场区域。仿真实验表明,该方法可生成平滑、安全且高效的巡检路径,为无人机在输电线路巡检中的应用提供理论支持和技术保障。Abstract: With the advancement of intelligent development in power systems, UAV inspection has become an important means for the operation and maintenance of transmission lines. However, ensuring the safety and efficiency of UAV inspection paths in complex electric field environments remains a challenge. This paper proposes a UAV path planning method based on electric field information by modeling transmission lines as a point charge distribution and calculating the spatial electric field distribution. By constructing an objective function that integrates constraints on path length, smoothness, and electric field strength, the method effectively avoids hazardous electric field areas. Simulation experiments show that the proposed method can generate smooth, safe, and efficient inspection paths, providing theoretical support and technical assurance for UAV applications in transmission line inspection.
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