Research Of Substation Inspection Robot Path Planning

With the improvement of scientific and technological progress and automation of electric power system, substation tends gradually unmanned on duty or less humanization. To promote the process of unmanned substation and ensure the safe and reliable operation, the use of intelligent mobile robot to complete the inspection of station equipment, is one of the ideal solution for shedding workers.Path planning is the foundation to realize autonomous inspection robot movement, mainly including the global path planning, local planning and vehicle kinematics modeling. Global path planning is based on map information and task information, in accordance with the shortest path, minimum turning, best comprehensive strategies, planning out the movement path of the inspection robot. Local behavior planning gives the robot real-time local path, a comprehensive analysis result of the global path planning and robotic data collected from the surrounding environment. Motion control system receives real-time path planning results and decomposes various speed command each motor through the kinematics modeling and analysis of the vehicle motion.This paper, according to the substation inspection robot path planning and its key technology, mainly does the following research:(1) Analyzed the urgent needs of the research of substation inspection robot, and the importance of path planning for inspection robot. Described the status of the substation inspection robot research and developments of path planning at home and abroad. Detailed outlined the overall architecture of substation inspection robot and the connection and functions between the parts.(2) Studied the global path planning, and used the grid modeling and wave propagation search algorithm to achieve the global path planning of substation inspection robot. Based on the study of single-wave propagation algorithm, researched the double wave propagation algorithm for global path planning of substation inspection robot and simulation is carried out on VC++ 6.0 platform. Double wave search algorithm has important significance to shorten the path search time.(3) Studied local path planning of substation inspection robot. On the basis of summarizing experts’ research on local path planning, used improved artificial potential field method+fuzzy logic to patrol local path planning. Used simulation platform of MobotSim simulating the algorithm and the results show that the method overcomes the shortcomings of the traditional artificial potential field method easy to fall into local minimum point defects and the method has good robustness in the local path planning.(4) Analyzed the way of substation inspection robot navigation, discussed the differential GPS/DR integrated navigation mode for inspection robot navigation. Mainly studied the motion control during navigation. Firstly, inspection robot motion is analyzed. And then according to the kinematic model proposed in GPS/DR integrated navigation system, promoted based on PD model reference adaptive control algorithm.Finally the control effect of this algorithm in the MATLAB simulation experiments are done, respectively, tracing square wave and sinusoidal wave. The result of simulation shows that the control algorithm has good control effect and the system can be stable in a short time internal energy.