A New Fusion Chemical Reaction Optimization Algorithm Based on Random Molecules for Multi-Rotor UAV Path Planning in Transmission Line Inspection

doi:10.1007/s12204-018-1981-2

Abstract

Abstract: A fusion chemical reaction optimization algorithm based on random molecules (RMCRO) is proposed to meet the special demand of power transmission line inspection. This new algorithm improves the shortcomings of chemical reaction algorithm by merging the idea of repellent-attractant rule and accelerates convergence by using difference algorithm. The molecules in this algorithm avoid obstacles and search optimal path of transmission line inspection by using sensors on multi-rotor unmanned aerial vehicle (UAV). The option of optimal path is based on potential energy of molecules and cost function without repeated parameter adjustment and complicated computation. By compared with an improved particle swarm optimization (IMPSO) in different circumstances of simulation, it can be concluded that the new algorithm presented not only can obtain more optimal path and avoid to trap in local minimum, but also can keep related sensors in a more stable status.

Key words: unmanned aerial vehicle (UAV)| chemical reaction algorithm| path planning| power transmission line inspection

摘要： A fusion chemical reaction optimization algorithm based on random molecules (RMCRO) is proposed to meet the special demand of power transmission line inspection. This new algorithm improves the shortcomings of chemical reaction algorithm by merging the idea of repellent-attractant rule and accelerates convergence by using difference algorithm. The molecules in this algorithm avoid obstacles and search optimal path of transmission line inspection by using sensors on multi-rotor unmanned aerial vehicle (UAV). The option of optimal path is based on potential energy of molecules and cost function without repeated parameter adjustment and complicated computation. By compared with an improved particle swarm optimization (IMPSO) in different circumstances of simulation, it can be concluded that the new algorithm presented not only can obtain more optimal path and avoid to trap in local minimum, but also can keep related sensors in a more stable status.

关键词: unmanned aerial vehicle (UAV)| chemical reaction algorithm| path planning| power transmission line inspection

CLC Number:

TP 273

YANG Qing (杨轻), YANG Zhong (杨忠), HU Guoxiong (胡国雄), DU Wei (杜威). A New Fusion Chemical Reaction Optimization Algorithm Based on Random Molecules for Multi-Rotor UAV Path Planning in Transmission Line Inspection[J]. Journal of Shanghai Jiao Tong University (Science), 2018, 23(5): 671-677.

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