Electric power inspection robot path planning method based on simulated annealing ant colony algorithm

A technology of power inspection and ant colony algorithm, which is applied in the field of path planning of power inspection robots based on simulated annealing ant colony algorithm, can solve problems such as inability to perfectly solve path planning problems, falling into local optimal solutions, and slow convergence speed. , to achieve the effect of ensuring feasibility, strong exploration ability, and improving rapidity

Active Publication Date: 2019-01-04
NANJING UNIV OF SCI & TECH
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Problems solved by technology

For example, the simulated annealing algorithm (SA) in the traditional algorithm can be applied to large-scale optimization problems. The algorithm is simple and the operation efficiency is high, but the convergence speed is slow and the randomness is poor.
For example, the ant colony algorithm (...

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  • Electric power inspection robot path planning method based on simulated annealing ant colony algorithm
  • Electric power inspection robot path planning method based on simulated annealing ant colony algorithm
  • Electric power inspection robot path planning method based on simulated annealing ant colony algorithm

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Embodiment Construction

[0056] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0057] combine figure 1 , a method for path planning of a power inspection robot based on simulated annealing ant colony algorithm of the present invention, comprising the following steps:

[0058] Step 1. Construct a map according to the environment of the outdoor substation, plan the running path and stop points of the power inspection robot, and construct a topological map according to the coordinate information of the stop points, such as figure 2 shown.

[0059] Step 1-1. The laser navigation system uses the laser ranging sensor and the odometer carried by the power inspection robot to construct a two-dimensional map of the feature-sparse environment.

[0060] Step 1-2. Plan the running path and stop points of the power inspection robot:

[0061] Simplify the running path of the robot into a straight line path, and set the stop points on the runni...

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Abstract

The invention discloses an electric power inspection robot path planning method based on a simulated annealing ant colony algorithm. The method includes the steps: building a map according to an outdoor transformer substation environment, planning the running path and stop points of an electric power inspection robot and building a topological map according to coordinate information of the stop points; acquiring the local shortest path of two optional inspection points by the aid of a classical Dijkstra algorithm according to inspection tasks, and building an undirected graph; transforming a global optimal path planning problem into a multi-target traveling salesman problem according to path lengths and the number of passing stop points, and planning a global optimal path on the basis of the undirected graph by the simulated annealing ant colony algorithm; replacing a local path in the global optimal path by the local shortest path to obtain a complete final path. The method is high inconvergence rate and global searching ability and has the advantages of low complexity, high feasibility and high speed.

Description

technical field [0001] The invention relates to the technical field of path planning of an inspection robot, in particular to a method for path planning of an electric inspection robot based on a simulated annealing ant colony algorithm. Background technique [0002] With the increase of social demand, the number of substations is increasing year by year, and the scale is getting bigger and bigger. The workload of substation inspection is more heavy. The traditional manual inspection method is labor-intensive and low in efficiency. It is not suitable for working in harsh environments. Unable to continue to meet the ever-increasing industry requirements. In the environment of large outdoor substations, power inspection robots can replace manual inspections, conduct autonomous inspections of power equipment through autonomous navigation and positioning, and can intelligently analyze data information through image processing technology, so the application prospects are becoming...

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 李胜袁佳泉郭健吴益飞史一露危海明朱禹璇施佳伟赵超王天野
Owner NANJING UNIV OF SCI & TECH
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