Method and system for intelligent planning path of multi-working condition wall climbing robot

A wall-climbing robot and path planning technology, applied to instruments, road network navigators, measuring devices, etc., can solve problems such as easy to fall into local optimum, slow convergence speed, etc., and achieve the effect of improving convergence speed and optimization ability

Inactive Publication Date: 2018-08-17
DALIAN UNIV OF TECH
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Problems solved by technology

Ant colony algorithm has many advantages in solving combinatorial optimization problems, b...

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  • Method and system for intelligent planning path of multi-working condition wall climbing robot
  • Method and system for intelligent planning path of multi-working condition wall climbing robot
  • Method and system for intelligent planning path of multi-working condition wall climbing robot

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Embodiment Construction

[0041] The specific implementation manners of the present invention will be further described below in conjunction with the accompanying drawings and technical solutions.

[0042] Fig. 1(a) shows the flow of the path planning method of the present invention, and Fig. 1(b) shows a schematic diagram of the environment modeling of the present invention. As shown in Figure 1, an intelligent path planning method for a wall-climbing robot that is oriented to multiple working conditions, first performs environment modeling and initialization, and then performs path search. If it is a horizontal surface, add a speed control strategy; if it is a vertical wall, add Based on the security policy of the minimum number of turns, after each round of iteration, the pheromone is updated to obtain the optimal path. The specific steps of the path planning of the wall-climbing robot in the two working environments of the horizontal plane and the vertical wall are described in detail below.

[00...

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Abstract

The invention discloses a method and a system for intelligent planning the path of a multi-working condition wall climbing robot. The optimal path of the wall climbing robot is found by an ant colonyalgorithm in an environment with known barriers. An environmental model is preprocessed, a pheromone limiting strategy, a goal orientation strategy and a reward and punishment excitation strategy areintegrated into the ant colony algorithm, and the improved algorithm has good convergence speed and optimization ability; a speed control strategy and a smallest turning frequency-based safety strategy are respectively provided according to the different working requirements of the wall climbing robot on a horizontal plane and a vertical wall, and are fused with the improved ant colony algorithm to form the method for planning the path of the wall-climbing robot under multiple working conditions; and the system for planning the path of the wall climbing robot is designed based on C++. The method and the system for planning the path realize the planning of the path of the wall climbing robot under different working conditions on the basis of the improved ant colony algorithm, and have theoretical values and practical significance.

Description

technical field [0001] The invention belongs to the technical field of artificial intelligence, and in particular relates to an intelligent path planning method and system for a wall-climbing robot facing multiple working conditions. Background technique [0002] As an important robot with specific working purposes, wall-climbing robot has been widely used in petrochemical industry, fire department, construction industry, nuclear industry and other fields. Due to the obstacles of different sizes and shapes distributed in its working environment, the wall-climbing robot cannot directly reach the established target point to carry out work, and needs to conduct environmental analysis and path planning in advance. In this way, it can bypass obstacles, reach the target position smoothly, safely and quickly, and complete its work tasks. [0003] Path planning is defined as follows: describe the environment of the robot, and then plan a path between two specific positions, which m...

Claims

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Application Information

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IPC IPC(8): G01C21/34
CPCG01C21/3446
Inventor 高俊杰赵鹏崔晓敏韩贤贤陈乙庆谢亚南王璟
Owner DALIAN UNIV OF TECH
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