Path Planning Of Substation Inspection Robot

As Made in China 2025 is put forward,with the rise of artificial intelligence in uhv power transmission and transformation projects and new voltage grade,the application of the intelligent unattended substation increased on a large scale,intensive,artificial checking model is less able to adapt to the modern intelligent control technology and operational management mode,because of its intelligence,high efficiency and safety inspection robot,combining or even replacing manual inspection will be widely used in substation inspection.As the core technology of substation inspection robot,path planning plays an important role in the safe and stable operation of substation.Model to create a static environment is the precondition of substation inspection robot path planning,based on the work environment characteristics of transformer substation and the task of inspection requirements were analyzed,and the way in navigation and positioning are reviewed in this paper,to simplify plane of substation environment map,built substations static environment model,environment data for path planning tasks.The path planning of substation inspection robot needs to solve two difficult problems: the optimal combination of multi-task points in the global environment of substation and the optimal path between any two task points.Aiming at the former,the GACC-BSO path planning algorithm is proposed based on BSO algorithm.Firstly,the greedy algorithm was introduced into the initial process of the original BSO algorithm to improve the diversity of the population.Secondly,an adaptive threshold P is added in the selection process to replace the fixed probability set in the algorithm to improve the convergence speed and optimization accuracy of the GACC-BSO algorithm.Finally,a crossover operator fused with Cauchy mutation is proposed,and new results are obtained by perturbed mutation in the algorithm,which improves the ability of the original BSO algorithm to jump out of local space.The experimental results show that the distance of Ulysses22 algorithm is reduced by 23.37 units compared with the original BSO algorithm.In the substation map,the inspection work from 1 to 9 task points is completed.In view of the latter and the temporary obstacles in the local environment of the substation and the redundancy of the planning path and the number of turns in the traditional BRRT algorithm,a DPBA-BRRT path planning algorithm was proposed based on the BRRT algorithm.Firstly,the initial motion path is constructed based on the overall framework of BRRT algorithm and the idea of target attraction of APF algorithm.Then the Douglas-Peuker algorithm with simplified linear elements was used to extract the key nodes in the initial path.Finally,the key nodes extracted by Douglas-Peuker algorithm were fitted by B-spline function.The results show that the path obtained by the improved algorithm is optimized by 4.07% and 7.73% in simple and complex environments,respectively,and the number of turns is reduced to 7 and 9times.Figure [37] Table [10] Reference [81]...