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A method for UAV inspection path planning based on safety distance in substation.
Duanjiao Li1, Huaqing Wang2, Ying Zhang1
1Guangdong Power Grid Co. Ltd, Guangzhou, 510080, China.
Scientific Reports
|December 1, 2025
Summary
Unmanned aerial vehicles (UAVs) can inspect high-voltage substations safely. This study sets electromagnetic field safety thresholds and develops a path planning algorithm, ensuring secure UAV operations near critical infrastructure.
Area of Science:
- Electrical Engineering
- Robotics
- Environmental Science
Background:
- Unmanned aerial vehicles (UAVs) offer efficient high-voltage substation inspection.
- UAV electronic components are vulnerable to strong electromagnetic fields (EMFs) in substations.
- Safe operational distances are crucial for UAVs in these environments.
Purpose of the Study:
- To establish critical EMF thresholds for UAV operations in high-voltage substations.
- To develop a methodology for calculating safe distances considering environmental factors.
- To create and validate an inspection path planning algorithm for safe UAV deployment.
Main Methods:
- Defined safety criteria: 320 kV/m electric field intensity and 290 µT magnetic flux density.
- Developed a comprehensive safety distance calculation incorporating wind gusts and UAV hovering accuracy.
- Designed an inspection path planning algorithm based on safety thresholds and operational needs.
Main Results:
- Simulations for a 220 kV substation bay were conducted.
- Planned inspection paths resulted in maximum electric field intensity of 156 kV/m and magnetic flux density of 136 µT.
- All simulated path values remained below the established safety thresholds.
Conclusions:
- The proposed methodology and algorithm ensure safe UAV operations within high-voltage substation EMFs.
- Findings support the wider adoption of UAVs for efficient and secure substation inspections.
- This research advances the safe integration of autonomous systems in power infrastructure.
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