Research On Path Planning Of Safety Inspection Robot In Iron And Steel Enterprise Based On Improved A* Algorithm

Safety is the prerequisite for the stable and continuous production of steel enterprises,safety accidents not only bring people property damage,life-threatening,but also seriously restricts the development of enterprises.Equipment inspection is to ensure that iron and steel enterprises to continue safe and stable production of an important part of the production equipment to detect hidden dangers,as soon as possible to prevent the occurrence of the accident.The traditional way of manual inspection and recording is based on the inspection staff through the observation and daily work experience of a simple device to determine the qualitative,which requires considerable experience and objective evaluation criteria.Based on the introduction of inspection robots in the iron and steel plant safety inspection is necessary,this can ensure the safe and reliable operation of equipment to reduce the probability of man-made accidents,but also improve the security and efficiency of inspection.Path planning is to solve the problem that the inspection robot must complete the task of autonomous inspection.Including the positioning of modeling itself,global path planning,local path planning.The main contents of this paper are as follows:(1)Overview of the main components of the inspection robot module: body module,which includes the drive mechanism,body chassis;control detection module,including positioning and navigation and equipment detection module;the establishment of kinematic model,through the left and right wheel speed control robot movement.(2)The equipment to be detected is sorted,so that the sensors are aligned with the inspection points to be detected,and the inspection contents are detected one by one according to the standard of the spot inspection,and the general inspection order is concluded.(3)The overall path planning,including environmental modeling and search algorithm of two parts.Environmental modeling In the full grasp of environmental information on the basis of the grid using the actual environment will be converted to map information.Combined with the inspection robot in the iron and steel enterprises in the actual environment,choose A * algorithm to achieve the path planning.(4)Introduce the commonly used search algorithms of local path planning:artificial potential field method,genetic algorithm,simulated annealing algorithm,particle swarm algorithm.(5)The A * algorithm to improve the deficiencies.The Euclidean distance method is used to obtain the value of the heuristic function h(n),and the bidirectional search path is adopted.Finally,we use MATLAB to simulate the ant colony algorithm,A * algorithm and improved A * algorithm,and compare the three simulation data.The results show that the improved A * algorithm has the advantages of short running time and few inflection points.