电力巡检机器人路径规划方法综述

Review of Path Planning Methods for Electric Power Inspection Robots

随着电力系统规模和复杂性的不断增加,传统的人工巡检方式已很难满足当下电力巡检要求。巡检机器人因具有安全性、可靠性和智能性已被逐步应用到电力巡检中。机器人在运行过程中通过提前预测、自主决策或智能导航的方式完成全局遍历与避障。电力巡检的核心任务是规划出一条安全且最优的运行轨迹。系统地分析和梳理了巡检机器人巡检过程中的各类方法;阐述了在变电站和输电线路等不同场景中算法的应用;综述了各类路径规划算法的研究现状和改进方法。在此基础上,对未来电力巡检机器人路径规划的研究和发展方向做出了展望。

With the increasing scale and complexity of power system,traditional manual inspection method is difficult to meet the requirements of current power inspection.Inspection robots have been gradually applied to electric power inspection for their safety,reliability and intelligence,and completed global traversal and obstacle avoidance by advance prediction,self determination and smart navigation in the operation process.The core task of electric power patrol inspection is to plan a safe and optimal running trajectory.This paper systematically analyzes and combs various methods in the process of patrol inspection,expounds the algorithms applied in different scenes such as substations and transmission lines,and summarizes the research status and improvement methods of robot path planning algorithms.On this basis,the research and development direction of the path planning of electric power inspection robots in the future are prospected.