Joint Multi-UAV Trajectory Design for Power Line Inspection
Unmanned Aerial Vehicles(UAV)technology holds significant importance and offers extensive potential for application in the field of inspection.Taking into account the limited endurance of the UAV,it needs to fly from the nest to the designated inspection area,complete the inspection of the transmission tower,and then return to the nest safely before the battery is exhausted.For large-scale inspection scenarios,a multi-UAV inspection method is proposed to minimize the inspection time.In detail,the k-means++algorithm is used to optimize task allocation of the UAVs and the modified simulated annealing algorithm is utilized to optimize the inspection trajectory to improve the inspection efficiency.Finally,based on the tower pole distribution data from a simulated real-world environment,the proposed algorithm is employed to assign tasks of the UAVs and design trajectories.The simulation results confirm that the proposed algorithm can significantly reduce the total inspection time through multi-UAV task allocation and trajectory design.
万方数据
维普
