面向电力智能巡检的多机器人系统协同路径规划算法

针对在复杂电力智能巡检任务与环境下，多机器人路径规划算法计算量大、实时性差的问题，提出了面向电力智能巡检的多机器人系统协同路径规划算法。首先结合实际情况，提出了2种不同群体规模下的多机器人系统交通规则法；接着，在所提交通规则法的基础上融入单机器人路径规划算法，提出了多机器人系统协同路径规划算法，且通过加权改进提升其运行效率；最后，通过仿真实验表明了所提2种交通规则以及协同路径规划算法在多机器人系统上应用的可行性和有效性。

Cooperative Path Planning of Multi-Robot System for Power Grid Intelligent Inspection

For the complex tasks and working condition of power grid intelligent inspection， multi robot path planning algorithm has the problem of large computation and poor real-time performance. Hence， the cooperative path planning algorithm of multi-robot system for power grid intelligent inspection is proposed. Firstly， two kinds of traffic regulation methods are presented for the different scales of the multi-robot system. Secondly， based on the traffic regulations，the cooperative path planning algorithm is formed and the operating efficiency is improved through weighted method. The simulation results verify the practicability and the effectiveness of the proposed two kinds of traffic regulations and the cooperative path planning algorithm.