关键词: 电力巡检, 车载无人机, 协同作业优化, 时空网络, 拉格朗日松弛算法

Abstract: Unmanned aerial vehicle (UAV) has been widely used to replace the traditional manual inspection due to its safety, flexibility, and efficiency. However, the existing vehicle-mounted UAV and the support vehicle face many difficulties in electric inspection and with an excessive cost and a low efficiency. In this paper, the vehicle-mounted UAV cooperative operation problem (VUCOP) for transmission inspection is studied in detail by proposing an integrated vehicle-mounted UAV cooperative operation model based on the space-time network. To ensure the efficiency and accuracy of the solution approach, the Lagrangian relaxation based algorithm is proposed embedded with the greedy-rule based feasibility approach. The performance of the algorithm proposed is verified through a series of larger scale problems. Eventually, experiments of sensitive analysis are conducted to investigate the effect of the UAV battery capacity on optimal system operation strategy. This paper provides a scientific decision-making basis for improving the operation efficiency of the transmission inspection system of the vehicle-mounted UAV and reducing the management cost, and provides a novel optimization approach for effectively solving the problem of VUCOP.

Key words: transmission inspection, vehicle-mounted UAV, cooperative operation optimization, space-time network, Lagrangian relaxation algorithm