南方电网技术2026，Vol.20Issue(2)：137-145,9.DOI:10.13648/j.cnki.issn1674-0629.2026.02.014
面向电力巡检场景的多无人机任务分配与路径规划方法
Multi-UAV Task Assignment and Path Planning Method for Power Inspection Scenarios
摘要
Abstract
A novel task allocation and path planning algorithm with maximum endurance constraints is proposed for the problem of multi-UAV task allocation and path planning in electric power inspection.Firstly,the jump point search(JPS)algorithm is introduced based on the auction mechanism to estimate the shortest obstacle avoidance path lengths between UAVs and tasks and between tasks and tasks,effectively addressing the coupling problem of task allocation and path planning.Secondly,the maximum endurance constraint of UAVs is integrated into the optimization objective function to ensure that UAVs can complete the assigned inspection tasks within their maximum endurance capacities.Finally,a lazy auction strategy is proposed to speed up the algorithm's convergence without compromising the solution quality of task allocation.The simulations show that the proposed method is more suitable for the operational requirements of multirotor UAVs with limited endurance than existing methods.Moreover,the time needed to solve the task allocation is reduced by nearly 40%.The experiments demonstrate the practicality and effectiveness of the proposed method.关键词
无人机电力巡检/任务分配/路径规划/最大续航约束Key words
UAVs power inspection/task assignment/path planning/maximum endurance constraints分类
信息技术与安全科学引用本文复制引用
陈博帆,潘可达,陈静川,黄楚茵,代洲..面向电力巡检场景的多无人机任务分配与路径规划方法[J].南方电网技术,2026,20(2):137-145,9.基金项目
贵州省高等学校电力装备制造质量智能化评价与预警创新团队项目(黔教技[2023]064号) （黔教技[2023]064号）
中国南方电网有限责任公司科技项目(CTYFXM2023008). Supported by the Guizhou Province Higher Education Electric Power Equipment Manufacturing Quality Intelligent Evaluation and Early Warning Innovation Team Project(QianJiaoJi[2023]No.064),the Science and Technology Program of China Southern Power Grid Co.,Ltd.(CTYFXM2023008). （CTYFXM2023008）
