Research on Intelligent Inspection Technology of Transmission Lines by Unmanned Aircraft Based on Multi-sensing

This paper discusses the intelligent inspection technology of transmission line for UAV based on multi-sensor. Under the condition that the battery energy of UAV is limited, the methods of task allocation and joint trajectory optimisation are investigated, aiming at optimising the inspection path under the limit of battery energy, so that the UAV can efficiently and completely realise the inspection of the line. In the paper, the Kmeans++ algorithm is first used to assign tasks to the UAVs and determine the towers to be inspected by each UAV. Then the improved simulated annealing algorithm is used to optimise the UAV trajectory to ensure that the UAV completes the inspection task under the single flight constraint. Simulation experiments verify the effectiveness of the proposed method, and the results show that the method can obtain a better solution and improve the inspection efficiency.