基于蚁群算法的变电站巡检机器人自主导航方法

Autonomous navigation method of substation inspection robot based on ant colony algorithm

利用磁导航进行定点的巡检方法在变电站巡检智能机器人中应用广泛,因此机器人的巡视路径规划问题应运而生,根据巡视路径特点,将巡视路径抽象为旅行商问题。首先,应用蚁群算法对路径进行规划;然后,用MATLAB进行了仿真;最后,用遗传算法规划路径以作为对比。结果表明,蚁群算法优势明显。

The inspection way to fix the points by using magnetic navigation is widely applied in substation intelli-gent robots. Thus, the problem appears in inspection path planning. According to the characteristics of the inspec-tion path, the path is abstracted as the traveling salesman problem. First, the ant colony algorithm is used to planthe path. Then, the simulation is carried out with MATLAB. Finally, the genetic algorithm is used to plan the pathas a contrast. The results show that the ant colony algorithm has obvious advantages.