发电技术2026，Vol.47Issue(3)：655-664,10.DOI:10.12096/j.2096-4528.pgt.260319
考虑风电场尾流的无人机智能巡检路径规划方法
Path Planning Method for Intelligent Unmanned Aerial Vehicle Inspection Considering Wind Farm Wake Effects
摘要
Abstract
[Objectives]Unmanned and intelligent high-efficiency inspection is of great significance for improving the operational reliability of wind turbines and reducing operation and maintenance costs.To address the severe challenges posed by strong turbulence in turbine wakes during operation and the complex multi-obstacle environment in mountainous wind farms,an intelligent unmanned aerial vehicle(UAV)inspection path planning method considering wind farm wake effects is proposed.[Methods]First,a global inspection problem model is established with inspection path cost and UAV endurance time as optimization objectives,and UAV flight characteristics as constraints.A virtual inspection scenario is then designed to reflect the complex terrain and wake characteristics of a mountainous wind farm.Next,a policy interactive target bias rapidly-exploring random trees(PITB-RRT)algorithm is proposed to improve path efficiency and computational efficiency by optimizing sampling and extension strategies.Finally,the non-dominated sorting genetic algorithm Ⅱ(NSGA-Ⅱ)is introduced to optimize the sequence of inspection points.[Results]For a typical mountainous wind farm with 12 wind turbines,the proposed method efficiently plans 66 feasible paths between turbine inspection points.The globally optimal inspection path obtained has a total length of approximately 9 342 meters and a corresponding flight time of 25.3 minutes,reducing the path cost by 28.8%compared to traditional inspection sequences.[Conclusions]The proposed method exhibits good applicability and high efficiency in complex wind farm scenarios,providing technical support for the intelligent and automated execution of UAV inspection tasks.关键词
风力发电/风机/风电场/智能巡检/无人机(UAV)/路径规划/快速搜索随机树(RRT)Key words
wind power generation/wind turbine/wind farm/intelligent inspection/unmanned aerial vehicle(UAV)/path planning/rapidly-exploring random trees(RRT)分类
能源科技引用本文复制引用
柳旭,莫皓添,闫翔昱,方健豪,陆春波,范佳,胡伟飞..考虑风电场尾流的无人机智能巡检路径规划方法[J].发电技术,2026,47(3):655-664,10.基金项目
国家自然科学基金项目(52275275) （52275275）
浙江省"尖兵领雁"项目(2023C01008).Project Supported by National Natural Science Foundation of China(52275275) （2023C01008）
Zhejiang Provincial"Pioneer and Leading Goose"Project(2023C01008). （2023C01008）
