Optimal Energy Consumption Path Planning for Quadrotor UAV Transmission Tower Inspection Based on Simulated Annealing Algorithm

Abstract

In order to improve the efficiency of UAVs in transmission tower inspections, the UAV transmission tower inspection energy consumption model is proposed for the existing research in which there is no accurate energy consumption calculation method in transmission tower inspection, and the optimal energy consumption path for UAV transmission tower inspection is designed by combining with simulated annealing algorithm. Firstly, a real experimental environment is built for experimental data collection and analysis, and the energy consumption model for transmission tower inspection is constructed and the influencing factors are discussed and analyzed, and the energy consumption coefficients under different situations are obtained. Second, according to the constructed transmission tower inspection energy consumption model combined with the path planning algorithm, experimental simulation is conducted to plan the optimal energy consumption inspection path, and finally, the above results are verified by carrying out actual measurement experiments. The simulation results show that under different constant loads, the optimal energy consumption path in this paper can save 36.53% and 27.32% compared with the conventional path; compared with the shortest path, it can save 11.16% and 0.45%. The optimal energy consumption path of UAV transmission tower inspection based on the simulated annealing algorithm proposed in this paper effectively improves the efficiency of UAV transmission tower inspection.

Keywords

• UAV
• transmission tower inspection
• energy consumption model
• path planning