填埋场裸膜红外巡检机器人最优路径规划

Optimal Path Planning of Infrared Inspection Robot for Bare Film in Landfill

针对垃圾填埋场渗漏检测问题,提出了使用红外巡检机器人代替人工对垃圾填埋场裸膜进行全覆盖巡检的方法,并对机器人进行路径规划。首先,根据垃圾填埋场环境,采用矩形分解法对其进行区域分解,生成若干子区域;然后,用模板模型法规定机器人遍历各个子区域方式;最后,基于遗传算法,对其流程算法进行改进优化包括选择、交叉、变异等,实现各子区域间的转换连接,进而实现全覆盖最优路径规划。基于MATLAB仿真分析,结果表明:将改进的遗传算法与模板模型法相结合构成了一个成熟完整的全覆盖路径规划模型,能高效地完成巡检任务,并有较快的收敛速度和较低的重复覆盖率。

Aiming at the problem of leakage detection in landfill,a method of using infrared inspection robot to inspect the bare film of landfill instead of manual inspection was proposed,and the path of the robot was planned.Firstly,according to the landfill environment,the rectangular decomposition method was used to decompose it into several sub regions.Then,the template model method was used to specify the way for the robot to traverse each sub region.Finally,based on genetic algorithm,the process algorithm was improved and optimized,including selection,crossover and mutation,so as to realize the conversion and connection between sub regions,and then realize the full coverage optimal path planning.Based on MATLAB simulation analysis,the results show that a mature and complete full coverage path planning model is formed by combining the improved genetic algorithm with the template model method,which can effectively complete the patrol task,and has faster convergence speed and lower repeated coverage rate.