基于鱼群算法的变电站巡检机器人路径规划研究

Research on the Path Planning of Substation Inspection Robot Based on Fish Swarm Algorithm

针对巡检机器人路径规划不佳的问题,传统求解方法在全局求最优解时精度偏低,有陷入局部最优解的风险。通过一种鱼群算法建立栅格化的变电站图,将机器人路径寻优问题转化为对鱼群觅食模拟和鱼群自身的生物行为,包括聚群行为、追尾行为以及随机行为进行最优解的求解。通过比较粒子群算法,鱼群算法能够很好地进行路径规划,并展现出较好的求解性能。

Aiming at the poor path planning of patrol robot,the traditional solution method has low precision in global optimal solution,and there is a risk of falling into local optimal solution.Through a fish swarm algorithm,the grid substation diagram is established at first,and then the robot path optimization problem is transformed into the optimal solution of the fish swarm foraging simulation and the fish swarm's own biological behaviors,including swarm behavior,rear-end collision behavior and random behavior.Compared with particle swarm algorithm,fish swarm algorithm can plan the path well,and show better solution performance.