面向变电站运维的智能机器人路径规划算法研究

Path Planning Algorithm of Intelligent Robot for Substation Operation and Maintenance

变电站运维机器人在变电站运维工作中具有广阔的应用前景。路径规划是提高智能机器人自主性的关键技术,面向变电站运维的智能机器人研究路径规划算法,分析了A星算法的估价函数和算法寻路流程,找到A星算法的优化方向,提出了基于向量叉积因子的A星算法。最后设计了仿真软件,通过仿真试验证明了基于向量叉积因子的A星算法在变电站运维环境中的路径规划性能优越。

Substation operation and maintenance robot has a broad application prospect in substation operation and maintenance work.Path planning is the key technology to improve the autonomy of intelligent robot.Based on the path planning algorithm,this paper analyzes the evaluation function and algorithm routing process of A-star algorithm,finds the optimization direction of A-star algorithm,and proposes A-star algorithm based on vector cross product factor.Finally,the simulation software is designed,and the simulation results show that the A-star algorithm based on vector cross product factor has superior performance in path planning in the operation and maintenance environment of substation.