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OA

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.