Cooperative Transmission Tower Inspection with a Vehicle and a UAV in Urban Areas
Ju Wang, Guoqiang Wang, Xiaoxuan Hu, He Luo, Haiqing Xu
Abstract
To reduce the workload of inspectors and improve the inspection efficiency of urban transmission towers, a new inspection method is proposed in this paper, in which an unmanned aerial vehicle (UAV) and vehicle cooperate with each other. We investigate the cooperative path planning problem of a UAV and a vehicle for transmission tower inspection and develop a new 0–1 integer programming model to address the problem. An odd-even layered genetic algorithm (O-ELGA) is proposed to efficiently solve the model. Finally, the effectiveness of the algorithm is further verified by simulation experiments.
Topics & Concepts
Transmission (telecommunications)TowerTransmission towerWorkloadGenetic algorithmComputer scienceInteger programmingPath (computing)Real-time computingMotion planningSimulationAutomotive engineeringEngineeringArtificial intelligenceAlgorithmComputer networkTelecommunicationsMachine learningRobotCivil engineeringOperating systemPower Line Inspection RobotsUAV Applications and OptimizationRobotics and Sensor-Based Localization