Vehicle Fault-Tolerant Robust Power Transmission Line Inspection Planning

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F22%3A00360834" target="_blank" >RIV/68407700:21230/22:00360834 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1109/ETFA52439.2022.9921692" target="_blank" >https://doi.org/10.1109/ETFA52439.2022.9921692</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ETFA52439.2022.9921692" target="_blank" >10.1109/ETFA52439.2022.9921692</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Vehicle Fault-Tolerant Robust Power Transmission Line Inspection Planning

Popis výsledku v původním jazyce

This paper concerns fault-tolerant power transmission line inspection planning as a generalization of the multiple traveling salesmen problem. The addressed inspection planning problem is formulated as a single-depot multiple-vehicle scenario, where the inspection vehicles are constrained by the battery budget limiting their inspection time. The inspection vehicle is assumed to be an autonomous multi-copter with a wide range of possible flight speeds influencing battery consumption. The inspection plan is represented by multiple routes for vehicles providing full coverage over inspection target power lines. On an inspection vehicle mission interruption, which might happen at any time during the execution of the inspection plan, the inspection is re-planned using the remaining vehicles and their remaining battery budgets. Robustness is introduced by choosing a suitable cost function for the initial plan that maximizes the time window for successful re-planning. It enables the remaining vehicles to successfully finish all the inspection targets using their respective remaining battery budgets. A combinatorial metaheuristic algorithm with various cost functions is used for planning and fast re-planning during the inspection.

Název v anglickém jazyce

Vehicle Fault-Tolerant Robust Power Transmission Line Inspection Planning

Popis výsledku anglicky

This paper concerns fault-tolerant power transmission line inspection planning as a generalization of the multiple traveling salesmen problem. The addressed inspection planning problem is formulated as a single-depot multiple-vehicle scenario, where the inspection vehicles are constrained by the battery budget limiting their inspection time. The inspection vehicle is assumed to be an autonomous multi-copter with a wide range of possible flight speeds influencing battery consumption. The inspection plan is represented by multiple routes for vehicles providing full coverage over inspection target power lines. On an inspection vehicle mission interruption, which might happen at any time during the execution of the inspection plan, the inspection is re-planned using the remaining vehicles and their remaining battery budgets. Robustness is introduced by choosing a suitable cost function for the initial plan that maximizes the time window for successful re-planning. It enables the remaining vehicles to successfully finish all the inspection targets using their respective remaining battery budgets. A combinatorial metaheuristic algorithm with various cost functions is used for planning and fast re-planning during the inspection.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2022

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

2022 IEEE 27th International Conference on Emerging Technologies and Factory Automation (ETFA)

ISBN

978-1-6654-9996-5

ISSN

1946-0740

e-ISSN

1946-0759

Počet stran výsledku

4

Strana od-do

—

Název nakladatele

IEEE Industrial Electronic Society

Místo vydání

Vienna

Místo konání akce

Stuttgart

Datum konání akce

6. 9. 2022

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000934103900233