文章研究了一种基于有线通信的变电站巡检机器人路径规划算法.利用激光探测与测距(Light Detection And Ranging,LiDAR)以及惯性测量单元(Inertial Measurement Unit,IMU)传感器进行高精度环境建模,通过同步定位与地图构建(Simultaneous Localization and Mapping,SLAM)技术构建实时地图,并采用八叉树地图方法表示环境信息.多机器人协同路径规划通过有线通信网络实现高效数据传输与任务分配,结合神经网络和回溯机制,提高巡检效率,避免路径冲突.实验在模拟变电站环境中进行,验证了算法在路径规划精度、避障成功率和任务完成时间上的优越性能.
Research on Path Planning Algorithm for Substation Inspection Robot Based on Wired Communication
This paper investigates a path planning algorithm for substation inspection robots based on wired communication.High-precision environment modeling is achieved using Light Detection And Ranging(LIDAR)and Inertial Measurement Unit(IMU)sensors.Real-time maps are constructed through Simultaneous Localization and Mapping(SLAM)technology,with the environment information represented using the OctoMap method.Multi-robot coordinated path planning is facilitated by wired communication networks,ensuring efficient data transmission and task allocation.The integration of neural networks and backtracking mechanisms enhances inspection efficiency and prevents path conflicts.Experiments conducted in a simulated substation environment verify the algorithm's superiority in terms of path planning accuracy,obstacle avoidance success rate,and task completion time.
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维普
