A random chemical reaction optimization algorithm based on dual containers strategy for multi-rotor UAV path planning in transmission line inspection

摘要

Aiming at the specific mission requirements of high-voltage transmission line inspection, a modeling method based on columnar space is proposed,which simplifies the complexity of traditional methods to a certain extent, and ensures enough modeling accuracy. Then, an improved random chemical reaction algorithm based on dual container strategy (RMCRO) is proposed, and the new algorithm divides the set of molecules into two subsets and puts them into two reaction containers, respectively. A subset introducing PSO algorithm strategy strengthens the strategy of diversity algorithm molecules and enhances the global search capability of the algorithm. Additionally, another subset introducing elitist selection and differential strategy strengthens the local search ability of the algorithm and accelerates the convergence speed. Then, through the exchange of the two subsets under certain conditions, the advantages of the two subsets can be further integrated to eliminate the original defects. Finally, respectively analyze the simulation of two typical scenarios of transmission line inspection based on multi-rotor UAV, the simulation results show that the proposed algorithm can avoid the local minimum, the path planning is shorter, and it canmake the airborne camera equipment working in a more stable state.