基于遗传算法的变电站巡检机器人任务路径规划方法研究

The research of Substation inspection robot path planning method based on Genetic Algorithm

摘要:

近年来,随着变电站巡检机器人在变电站中的广泛使用,巡检机器人路径规划问题越来越成为亟待解决的问题。巡检机器人在已知的拓扑地图中标记了待执行巡检任务的停靠点,不同任务需要从初始点出发经过不同的一系列停靠点再返回初始点,如何规划路径是机器人面临的问题。首先分析了路径规划面临的问题,然后通过分析拓扑地图的特征,对地图进行等价简化,再对问题进行建模使用遗传算法求解巡检任务路径规划的近似最优解。通过仿真实验证明,提出的基于遗传算法的路径规划方法是可行有效的,为变电站巡检机器人任务路径规划提供了一种有效方法。

Abstract:

In recent years, substation inspection robot is widely used in substations, but inspection robot path planning problem is a serious problem. Inspection robot has marked task stops in topology map, different tasks require starting from the initial point and throughSof a series of stops and then returns to the initial point, how to planning the path is a problem. First, this paper analyzes the path planning problems, second proposed a map equivalent deformation method by analyzing the topological map features, finally used the genetic algorithm to calculate the approximate optimal solution. Simulation results show the method based on genetic algorithm this paper proposed is an effective method to solve substation inspection robot path planning problem.