The substation inspection environment is very complex,making it diffiicult for inspection robots to find the optimal obstacle-avoidance path at the fastest speed.To solve this problem,an optimal obstacle-avoidance path generation system is designed for a lightweight quadruped inspection robot in substation.The robot optimal obstacle-avoidance path generation system architecture and logical framework are built.The system hardware takes MSP430 as the core,which is mainly composed of the main control module,sensor module,motion control module,computer remote management module and wireless communication module.Supported by the system hardware,the modules of the robot operating system(ROS)operating framework are connected through node coupling to ensure the efficiency and quality of path planning and optimal path generation.Based on the ROS operating framework,the A*algorithm selects and generates the optimal obstacle-avoidance path for the lightweight quadruped inspection robot of the substation by traversing all the nodes of the surrounding environment map.The experimental results show that the obstacle-avoidance path generated by the proposed system is the optimal obstacle-avoidance path and the yaw angle is smaller and generation time is shorter.The system provides reference for the research in the field of robot obstacle-avoidance planning.
维普
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