UAV Path planning for line patrol based on improved Fleury algorithm

Abstract

The knowledge of graph theory， the research method for the Chinese postman problem， and the improved Fleury algorithm are applied with the addition of random selection elements （i.e.， random branch nodes on the main line and endpoints on the branch line） to obtain the near-optimal UAV patrol paths. The calculation results show that the patrol path of simple lines generally follows the order of mainline towers， while there is no clear rule for the patrol path of complex lines. It is verified that the proposed algorithm procedure is practical and fault-tolerant， applicable to all simple and complex lines； the patrol mileage is generally 10% to 30% more than the actual mileage， ideally effective.

Keywords

• uav
• path planning
• fleury algorithm
• graph theory
• chinese postman problem