Cooperative Control and Path Planning for Multi-objective Urban Power Vehicle-Mounted UAV Inspection Based on Hybrid Heuristic Optimization Algorithm
Tianyu Li, Changsheng Zhu, Yongxin Wang, Jingjie Li, Suchao Wang · Unmanned Systems · 2025
In this paper, for the problem of low efficiency of traditional inspection in urban electric power inspection, a multi-objective urban electric power vehicle-mounted UAV inspection cooperative control and path planning based on a hybrid heuristic optimization algorithm is proposed. By constructing the base model and objective function of vehicle-mounted UAV inspection, a cooperative control model is established and an improved GWO algorithm is proposed. By adjusting the GWO parameters, the conflict between global search and local search is effectively balanced. Through simulation experiments, the robustness of the algorithm is verified using a 2D obstacle avoidance map, and a simulated power line map is constructed for testing in an actual situation. Comparative experiments show that the GWO-PSO-SA algorithm reduces the total vehicle travelling distance by an average of 6.694 km and the detection time by 47.6 min, which fully proves that the algorithm is more robust and efficient in solving complex urban detection problems.