改进蚁群算法的输电线巡检机器人避障路径规划

Obstacle Avoidance Path Planning of Transmission Line Inspection Robot Based on Improved Ant Colony Algorithm

输电线承担着电力能源输送的关键作用,是电力系统能否稳定运行的关键。为了避免输电线故障发生,需要采用巡检机器人实时检测输电线,巡检机器人路径规划结果是影响巡检效果的主要因素,该文提出改进蚁群算法的输电线巡检机器人避障路径规划方法研究。应用激光传感器获取障碍物体相关信息,完成障碍物体的检测与建模,计算巡检机器人与障碍物体的位姿关系,推出巡检机器人避障算法。确定巡检机器人避障路径规划目标,基于狼群分配原则与中心点平滑方法改进蚁群算法,执行算法获取最佳避障路径规划结果,实现了输电线巡检机器人避障路径的规划。实验数据显示,应用提出方法获得的规划路径避障成功率最大值为96%,最佳避障路径规划迭代次数最小值为11次,充分证实了提出方法避障路径规划性能更佳。

Transmission line plays a key role in power energy transmission and is the key to the stable operation of power system.In order to avoid the occurrence of transmission line faults,it is necessary to use the inspection robot to detect the transmission line in real-time.The path planning result of the inspection robot is the main factor affecting the inspection effect.A research on the obstacle avoidance path planning method of the transmission line inspection robot based on the improved ant colony algorithm is proposed.The laser sensor is used to obtain the relevant information of the obstacle object,complete the detection and modeling of the obstacle object,calculate the pose relationship between the inspection robot and the obstacle object,and deduce the obstacle avoidance algorithm of the inspection robot.Determine the obstacle avoidance path planning goal of the inspection robot,improve the ant colony algorithm based on the wolf swarm allocation principle and the center point smoothing method,execute the algorithm to obtain the best obstacle avoidance path planning results,and realize the obstacle avoidance path planning of the transmission line inspection robot.The experimental data show that the maximum success rate of obstacle avoidance of the proposed method is 96%,and the minimum number of iterations of the optimal obstacle avoidance path planning is 11,which fully proves that the proposed method has better performance of obstacle avoidance path planning.