| 基于改进蚁群算法的变电站巡检 机器人路径规划研究 |
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| 引用本文： | 谢志文,汪 政,王 锐,周 原. 基于改进蚁群算法的变电站巡检 机器人路径规划研究[J]. 中州煤炭, 2021, 0(12): 212-216. DOI: 10.19389/j.cnki.1003-0506.2021.12.037 |
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| 作者姓名： | 谢志文 汪 政 王 锐 周 原 |
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| 作者单位： | （广东电网有限责任公司电力科学研究院，广东 广州 510080） |
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| 摘 要： | 以提升机器人在巡检变电站时的工作效率，节省巡检时间消耗，设计了改进蚁群算法的变电站巡检机器人路径规划方法。利用栅格法构建变电站机器人巡检路径地图，使用二值表示障碍区域，在经典蚁群算法中引入方向夹角启发因子，提升路径搜索的导向性与搜索速度，使用拉普拉斯概率分布作为信息素挥发因子自适应策略，提升蚁群算法的收敛速度，以实际变电站作为研究对象，结果表明，改进蚁群算法的巡检路径寻优效果和规划速度优于同类路径规划方法，获得了理想的路径规划效果。
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| 关 键 词： | 蚁群算法 变电站 巡检机器人 路径规划 |
Study on path planning of substation inspection robot based on improved ant colony algorithm |
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| Xie Zhiwen,Wang Zheng,Wang Rui,Zhou Yuan. Study on path planning of substation inspection robot based on improved ant colony algorithm[J]. Zhongzhou Coal, 2021, 0(12): 212-216. DOI: 10.19389/j.cnki.1003-0506.2021.12.037 |
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| Authors: | Xie Zhiwen Wang Zheng Wang Rui Zhou Yuan |
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| Affiliation: | （Electric Power Research Institute of Guangdong Power Grid Co.，Ltd.，Guangzhou 510080，China） |
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| Abstract: | In order to improve efficiency of robot in substation inspection and save inspection time，a path planning method of substation inspection robot based on improved ant colony algorithm is designed.Grid method is used to construct the inspection path map of substation robot.Binary value is used to represent the obstacle area.Direction angle heuristic factor is introduced into the classical ant colony algorithm to improve guidance and search speed of path search.Laplace probability distribution is used as pheromone volatilization factor adaptive strategy to improve the convergence speed of ant colony algorithm.The results show that the improved ant colony algorithm is superior to the similar path planning methods in the optimization effect and planning speed，and achieves the ideal path planning effect. |
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| Keywords: | ant colony algorithm substation inspection robot path planning |
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