Research on three-dimensional path planning of UAV-AGV cooperative electric power patrol based on improved firefly algorithm
Mingke Zhang, Yiran Zhao · 2024
With the construction of new power systems, the operation and maintenance mode of large-scale hub substations with automated unmanned aerial vehicles (UAVs) and intelligent vehicles (AGVs) as the main inspection bodies has gradually become the mainstream solution. However, in response to the complex substation scenarios with uneven distribution, the traditional path planning methods do not consider the influence of the spatial height of obstacles, and lack a collaborative inspection strategy to optimize the cost. Therefore, this paper proposes a three-dimensional path planning method based on the improved Firefly Optimization Algorithm (GSO) UAV-intelligent vehicle cooperative power inspection. Firstly, based on the actual substation layout structure, the vertices of the obstacle grid were collected as feature points to generate a three-dimensional grid model, which narrowed the search range of the path planning algorithm. Secondly, the GSO algorithm is used to construct a three-dimensional path optimization model of UAV-AGV, and based on the mixed integer linear programming model, a multi-objective optimization function considering the inspection time and cost of UAV endurance is established to construct constraints for path collaboration. Finally, the simulation results of the inspection task show that the proposed method can be well adapted to the 3D grid scene, and its time cost and total energy cost are optimized by 4.9% and 6.4%, respectively, compared with the ant colony algorithm.