Research On Real Time Path Planning Method Of Substation Inspectionrobot

In recent years,intelligent inspection robot can gradually be competent for substation power inspection.At present,the navigation mode of inspection robot in China is mainly based on magnetic track navigation.The path planning method based on magnetic rail navigation has the problems of poor real-time planning effect,fixed path and high maintenance cost.Aiming at these two problems,this paper makes the following research:(1)Studied a real-time path planning algorithm based on magnetic rail navigation technology: magnetic rail navigation guides the advancement of inspection robots through magnetic rails,which is a common navigation method currently used by conventional indoor inspection robots.In this paper,the magnetic rail map model of the substation is constructed according to the typical layout of the national grid substation.The algorithm uses the gradient optimization method to generate the minimum spanning tree,obtain the candidate set,determine the initial solution through the heuristic function,use the search and exchange strategy to obtain the approximate optimal path,and finally filter the set of exchange path points to improve the execution efficiency.Experimental simulation results show that this algorithm only needs 0.27 seconds to plan the optimal path.(2)The real-time path planning algorithm based on laser navigation technology:Since the magnetic rail navigation technology is limited to the magnetic track laid in advance,it restricts the flexibility of the inspection robot and the ability to handle sudden inspection tasks.Therefore,the second stage of this paper focuses on the real-time path planning algorithm based on laser navigation technology.We improved the JPS algorithm.The optimized straight jump method accelerates the search for jump points,and the number of planned nodes is reduced by deleting the middle inflection point.The article constructed four grid map models of different scales for the simulation test of the algorithm.The test results show that when the map grid is 400×400,the real-time performance of the improved JPS algorithm is increased 40% compared with the original JPS algorithm.the average search time is 86 ms.(3)Built a substation inspection robot software and hardware test platform based on ROS robot operating system and Turtle Bot3,constructed a simulation model of substation under ROS,redesign the global path planner based on improved JPS,the improved JPS algorithm is real-time and feasible in the simulation environment.Finally,using the improved JPS algorithm global path planner on the Turtlebot3 robot,and carried out a experiment on actual environment,furtherly proved the feasibility of the improved JPS path planning method.