Path optimizing of UAV inspection for 500kV AC transmission line cup-tower based on ant colony algorithm

Abstract To ensure unmanned aerial vehicles (UAVs) complete the inspection task of a high-voltage transmission line safely and effectively, it is necessary to consider the interference of a complicated electromagnetic field near a high-voltage transmission line and determine a reasonable inspection distance and path of the UAV. Taking the 500kV EHV AC power line as an instance, firstly, the three-dimensional model of the 500kV ZV 1 cup-tower is built, and the finite element method (FEM) is used for computing the electric field and magnetic field of the UAV exterior. According to inspection specifications, the electromagnetic field protection threshold of the UAV is determined, and then the safety area between UAV and the split conductor is determined to be equal to 1.5 m. Combined with the UAV shooting field of view and safety distance, the spatial positions of UAV hovering shooting points are selected to ensure that UAV flies in a safe area. Finally, the path of UAV traversing hovering shooting points is optimized by the ant colony algorithm (ACO), and the optimal path distance is 109.4 m.