基于改进遗传算法的变电站巡检机器人行驶轨迹优化

Optimization of Traveling Track of Inspection Robot in Substation Based on Improved Genetic Algorithm

针对变电站巡检机器人巡检效率问题,研究一种移动机器人的巡检系统在变电站的应用情况。基于改进遗传算法,对机器人巡检的路线进行优化,优化过程中将变电站平面图网格化处理便于计算,计及最高寻址效率,以行驶距离最短为优化目标。鉴于实际使用工况,优化方法考虑了若电量剩余较少时,机器人应自动停止寻址,并返回充电,充电后继续按照优化寻址轨迹进行巡检这种情况。通过工程计算仿真分析发现,所提优化方法可使机器人快速完成站内寻址,与未采取优化的机器人相比,优化机器人寻址效率更高,行驶距离更短,尤其适用于大型变电站。

Aiming at the inspection efficiency of substation inspection robot,this paper studies the application of a mobile robot inspection system in the substation.Based on the improved genetic algorithm(GA),it optimizes the addressing route and carries out meshing processing for the substation plan in the process of optimization for convenient calculation.Considering the highest addressing effeciency,it takes the driving distance as the optimization objective.In view of the actual use conditions,if the remaining power is less,the robot should stop addressing automatically and return to charging.After charging,it continues the inspection according to the optimized route.Through the engineering calculation and simulation analysis,the paper discovers that the robot can quickly complete addressing in the substation,and compared with the robot without optimization,the optimized robot has higher addressing efficiency and shorter driving distance,especially suitable for the large-scale substations.