基于改进蚁群算法的记录仪现场采集路径规划模型

A path planning model for on-site acquisition of a recorder based on an improved ant colony algorithm

利用改进蚁群算法,设计电网作业现场记录仪图像采集路径规划模型。由于蚁群算法难以摆脱局部最优解,提出负反馈的改进蚁群算法,并建立作业现场监测目标函数。实验结果表明,负反馈的改进蚁群算法的平均路径和最佳路径经过28次迭代后收敛,且最大平均路径为196 cm,较蚁群算法模型降低55.96%。所提出的负反馈改进蚁群算法监测路径可以提高5%~17%的准确率、9%~20%的覆盖率和3%~17%的监测效率。与没有安全距离的路径相比,基于负反馈的改进蚁群算法路径规划转弯次数为3次,较无安全距离的路径规划减少42.8%,可极大提高电网作业现场监测效率。

Using the improved ant colony algorithm,a path planning model for image acquisition of power grid oper⁃ation site recorder was designed.Since it is difficult to get rid of the local optimal solution of ACO algorithm,the im⁃proved ACO algorithm with negative feedback was proposed,and the objective function of operation site monitoring was established to further study the monitoring efficiency of the recorder in the grid operation site and the change of path safety distance.The experimental results showed that the average path and optimal path of the improved ACO algorithm with negative feedback converged after 28 iterations,and the maximum average path was 196 cm,which was 55.96%lower than the ACO algorithm model.And the negative feedback improved ACO algorithm monitoring path proposed in this paper could improve the accuracy by 5%~17%,coverage by 9%~20%and monitoring effi⁃ciency by 3%~17%.Compared with the path without safety distance,the number of turns in the path planning of the improved ant colony algorithm based on negative feedback was 3 times,which was 42.8%less than that of the path planning without safety distance,and it can greatly improve the monitoring efficiency of the grid operation site.