Research on Path Planning Algorithm for Substation Inspection Robot
Aiming at the problem of low efficiency of path planning of substation inspection robot in complex scenes,a path planning algorithm is proposed.Firstly,the heuristic function is improved and a multi-objective evaluation function based on environmental parameters is established for the complex situation in the actual path of substation.Secondly,the updating and screening of the route model is realized by the dynamic path optimization technique.Finally,the feed-forward path optimization strategy is adopted to transfer the path nodes in the obstacle area to the feasible area for optimization,so as to improve the number of feasible paths.The experimental results show that compared with the traditional ant colony algorithm,the optimal path length and the average number of iterations of the improved ant colony algorithm are reduced by 6%and 25%respectively,and the convergence speed and accuracy of the algorithm are significantly improved.The improved algorithm is applied to the path planning of substation inspection robot in complex scenarios,which solves the problems of path optimization and risky obstacle avoidance in the robot's optimization search process.According to the actual working environment of the substation inspection robot,the environment model is established by the raster method,which proves the feasibility of the improved algorithm.
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维普
