Research On Path Planning Of Substation Inspection Robot

Due to the dual limitations of cost and technology,the promotion of substation inspection robots is not effective,but with the maturity of intelligent algorithms and the improvement of navigation accuracy,inspection robots have begun to be widely used in substation inspections.Path planning,as part of its main technology,has also become active with the promotion of inspection robots.In order to ensure that the inspection robot can get out of the shortest path during the inspection process and save energy,this paper proposes a 2-optimization(2-opt)ant colony algorithm based on genetic algorithm.The specific process is as follows:Firstly,the principle of the main functions of the substation inspection robot and the type,purpose and details of the inspection robot inspection are analyzed in detail,including high-definition photographing,infrared photographing,sound recording and video recording.The main equipment of the robot inspection includes a main transformer,a circuit breaker,an isolating switch,a capacitor,a lightning arrester,a current transformer,and a voltage transformer.Secondly,aiming at the problem of algorithmic defect of ant colony algorithm with slow convergence rate and easy to fall into local optimum,this paper proposes a 2-opt ant colony algorithm based on genetic algorithm,which adopts the idea of genetic algorithm mutation to accelerate the convergence of ant colony algorithm.Using the idea of 2-opt algorithm and internal step-by-step search solves the problem that it is easy to fall into local optimum.Using the small and medium-sized business travel problems as a test example,the simulation performance of the particle swarm optimization algorithm,the basic ant colony algorithm and the proposed algorithm are compared,and the superiority and feasibility of the proposed algorithm are proved.Finally,based on the mathematical theory of graph theory,by analyzing the actual situation of substation equipment placement and the human-computer interaction between the inspection robot and the geographical environment,and gradually abstracting and simplifying the geographical environment,the mathematics of the substation geographical environment is established.model.The improved ant colony algorithm and depth-first search algorithm are used to plan the global and local path of the inspection route.The planned path through the simulation results effectively avoids the obstacle de-arrangement of the substation equipment,which shows the feasibility of the proposed model.