Application Of Path Planning Algorithm In Substation Inspection Robot

With the development of intelligent inspection robot technology,inspection robots are widely used in substations to complete the inspection work of substations and move towards the direction of intelligent inspection.At present,substations have begun to reduce the number of inspection personnel and labor costs.By using inspection robots to conduct intelligent inspections of substation equipment,the inspection efficiency is improved and the safe operation of electrical equipment in the substation is ensured.This requires intelligent algorithms to realize the path planning of the inspection robot and model the substation environment.Based on the above analysis,the main research contents of this article include:First,model the substation.In view of the known characteristics of substation partition and environmental maps,a corresponding grid environment model was chosen to describe the substation environment.The reasons for choosing grid modeling are as follows:each location area has a unique corresponding coordinate in the model established by the grid method;and grids of the same size can be used to describe the environment space,which is efficient and has high accuracy.Secondly,the ant colony algorithm based on roulette and the improved A star algorithm are proposed,compare the performance of the algorithm.In a grid environment,the paths planned by the traditional A-star algorithm,the ant colony algorithm and the improved A-star algorithm are compared.The path planned by the ant colony algorithm is longer than the path planned by the traditional A-star and the improved A-star algorithm,and it has disadvantages such as low search efficiency,more path inflection points,and severely affected by parameters;the path planned by the traditional A-star algorithm is shorter.However,the planned path causes friction or collision between the robot and the edge of the obstacle;while the improved A-star algorithm effectively solves the problem of edge friction or collision in the traditional A-star algorithm without sacrificing the path length index,and has strong robustness.Thirdly,because the path planned by the current algorithm is not smooth,and during the traveling process of the inspection robot,the unsmooth path will cause unnecessary friction loss to the inspection robot;and the unsmooth travel path causes the robot to increase when turning.Time loss reduces the inspection efficiency of the inspection robot;and the redundant turning points will increase the path length;therefore,this paper applies the third-order Bezier curve to deal with the path unsmooth problem and reduce the friction loss and time loss of the robot.Reduce the path length.Finally,in view of the situation that the substation inspection robot needs to complete multi-task point inspection,according to the global planning problem model,the original distance matrix of the tabu search algorithm is improved,and the fusion algorithm composed of the improved A star algorithm and the improved tabu search algorithm is used to complete the multi-task point.In the inspection task,the third-order Bezier curve is applied to deal with the unevenness of the path,and the experimental results are obtained,which are compared with the traditional A-star and tabu search fusion algorithm.The experimental results show that the improved A star-tabu search fusion algorithm after applying the third-order Bezier curve obtains a shortest,smooth,and collision-free optimal path,which proves that the algorithm is effective.