电力信息与通信技术2026，Vol.24Issue(4)：8-14,中插1-中插2,9.DOI:10.16543/j.2095-641x.electric.power.ict.2026.04.02
基于无人机协同的变电站巡检机器人通感算控一体化架构设计
Design of Integrated Communication,Sensing,Computing,and Control Architecture for Substation Inspection Robots Based on UAV Collaboration
摘要
Abstract
Under the background of power system digital transformation,to enhance the autonomy,real-time performance,and security of substation intelligent inspection systems,this paper proposed unmanned aerial vehicle(UAV)-assisted inspection robot architecture with integrated communication,sensing,computation,and control.By leveraging collaborative perception and task allocation between UAVs and ground robots,the proposed system achieves efficient coverage and information acquisition in complex substation environments.A linear quadratic regulator(LQR)control framework is established to minimize the operational cost of UAV-guided inspection robots.To solve this non-convex and nonlinear optimization problem,a meta deep deterministic policy gradient(Meta-DDPG)algorithm is proposed.Simulation results demonstrate that,compared to benchmark algorithms,the proposed approach achieves faster convergence in reducing LQR cost while significantly decreasing system latency.关键词
智能巡检系统/通感算控一体化/变电站/元强化学习Key words
intelligent inspection system/integrated communication,sensing,computation and control/substation/meta reinforcement learning分类
信息技术与安全科学引用本文复制引用
李新叶,汪翰基,赵伟,庞起彤,陈博..基于无人机协同的变电站巡检机器人通感算控一体化架构设计[J].电力信息与通信技术,2026,24(4):8-14,中插1-中插2,9.基金项目
国家自然科学基金项目(62471181). （62471181）
