本文为美国密苏里理工大学（作者：YU LI）的硕士论文，共79页。

随着机器人技术的迅速发展，越来越多的公用事业公司使用机器人来执行各种任务。无人机是一种高效的高压输电线路巡检机器人。无人机需要保持在地面站的数据传输范围内，并定期着陆更换电池，以确保电源系统能够支持其运行。利用无人机进行输电线路巡检时，必须使用路由算法来指导地面站的运动和部署。现有的大多数路由算法都是针对需要从给定起点到终点的单个目标进行寻径，由于涉及到多个需要协调运动和位置的目标（即无人机和地面小组），因此不能直接用于指导地面站的部署和运动。

在这篇论文中，我们将探讨可供公用事业单位使用的路由算法，以有效地利用无人机进行输电线路检查。针对无人机电源系统的变化，提出了启发式算法和解析算法来指导地面站和着陆点的部署。通过一个实例验证了该路由算法的有效性，并对其性能和成本效益进行了分析。

With the rapid development of robotics technology, robots are increasingly used to conduct various tasks by utility companies. An unmanned aerial vehicle (UAV) is an efficient robot that can be used to inspect high-voltage transmission lines. UAVs need to stay within a data transmission range from the ground station and periodically land to replace the battery in order to ensure that the power system can support its operation. A routing algorithm must be used in order to guide the motion and deployment of the ground station while using UAV in transmission line inspection. Most existing routing algorithms are dedicated to pathfinding for a single object that needs to travel from a given start point to end point and cannot be directly used for guiding the ground station deployment and motion since multiple objects (i.e., the UAV and the ground team) whose motions and locations need to be coordinated are involved. In this thesis, we intend to explore the routing algorithm that can be used by utility companies to effectively utilize UAVs in transmission line inspection. Both heuristic and analytical algorithms are proposed to guide the deployment of the ground station and the landing point for UAV power system change. A case study was conducted to validate the effectiveness of the proposed routing algorithm and examine the performance and cost-effectiveness.

1.       引言

2. 文献回顾

3. 启发式模型

4. 解析式模型

5. 结论

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