Formal Synthesis of Trajectories for Unmanned Aerial Vehicles to Perform Resilient Surveillance of Critical Power Transmission Lines
Formal Synthesis of Trajectories for Unmanned Aerial Vehicles to Perform Resilient Surveillance of Critical Power Transmission Lines
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DOI：
10.1109/iceccs51672.2020.00019
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发表时间：
2020-10
期刊：
影响因子：
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通讯作者：
M. Rahman;Rahat Masum;Matthew O. Anderson;S. Drager
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文献类型：
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作者：
M. Rahman;Rahat Masum;Matthew O. Anderson;S. Drager
智能电网是一个具有架空输电线路的广泛分布的工程系统。自然灾害或技术故障对这些电力线造成的物理损坏将破坏电网的功能完整性。当这些现象发生时，为了确保电网的持续运行，电网运营商必须立即采取措施消除影响并修复问题，即使这些问题发生在难以到达的偏远地区。新兴的无人机（UAV）显示出巨大的潜力，可以取代传统的人工巡逻，定期监测涉及电网安全的关键情况。关键线路可以由一组无人机监控，确保有弹性的监控。该方法考虑了n-1偶然性分析来发现输电线路的临界状态。我们提出了一个正式的框架来验证一组给定的无人机是否可以对满足各种要求的电网进行连续监视，特别是监测和弹性规范。验证过程最终为无人机提供了一个弹道计划，包括加油时间表。检查线路上某一点的弹性需求用k属性表示，即如果k无人机发生故障或受到损害，仍有一架无人机按时收集数据。我们基于各种IEEE测试总线系统的综合数据对所提出的框架进行了评估。
A smart grid is a widely distributed engineering system with overhead transmission lines. Physical damage to these power lines, from natural calamities or technical failures, will disrupt the functional integrity of the grid. To ensure the continuation of the grid's operational flow when those phenomena happen, the grid operator must immediately take steps to nullify the impacts and repair the problems, even if those occur in hardly-reachable remote areas. Emerging unmanned aerial vehicles (UAV s) show great potential to replace traditional human patrols for regularly monitoring critical situations involving the safety of the grid. The critical lines can be monitored by a fleet of UAV s, ensuring resilient surveillance. The proposed approach considers the $n-1$ contingency analysis to find the criticality of a transmission line. We propose a formal framework that verifies whether a given set of UAV s can perform continuous surveillance of the grid satisfying various requirements, particularly the monitoring and resiliency specifications. The verification process ultimately provides a trajectory plan for the UAV s, including the refueling schedules. The resiliency requirement of inspecting a point on a line is expressed in terms of a $k$ - property specifying that if $k$ UAV s fail or are compromised, there is still a UAV to collect the data on time. We evaluate the proposed framework on synthetic data based on various IEEE test bus systems.