储罐检测爬壁机器人全遍历路径规划

Complete coverage path planning of oil tank detection wall climbing robot

针对爬壁机器人难以在储罐外壁实现全遍历检测的问题,提出了一种基于滚动窗口的优先级启发式路径规划算法。在滚动的可视窗口内基于栅格地图进行环境建模,利用优先级启发式算法在滚动的规划窗口内实现对遍历路径的搜索;针对环境中存在U型障碍物的情况,进行了U型障碍物识别和U型障碍物区域直接填充;当机器人陷入死区时,采用死区逃离算法使机器人顺利逃离死区。仿真结果表明,该路径规划方法能指导爬壁机器人在未知储罐外壁环境的情况下实现高效全遍历。研究结果对提高爬壁机器人在储罐外壁的遍历效率具有一定的理论和工程意义。

Aiming at the problem that the wall climbing robot is difficult to realize complete coverage detection on the outer wall of the oil tank, a priority heuristic path planning algorithm based on rolling window was proposed. The grid map was used to model the environment in the rolling visual window,and the priority heuristic algorithm was used to search coverage path in rolling planning window. For the existence of U-shaped obstacles in the environment, the recognition and direct filling of U-shaped obstacle were carried out. When the robot entered the dead zone, the dead zone escape algorithm was enabled to make the robot escape the dead zone smoothly. The simulation results showed that the path planning method could guide the wall climbing robot to achieve complete coverage efficiently under the condition that the outer wall environment of oil tank was unknown. The research results have certain theoretical and engineering significance for improving the coverage efficiency of the wall climbing robot on the outer wall of oil tank.