Solar Photovoltaic Panels Cleaning Robot Path Planning Research And Application

The first task of using mobile robots to clean solar photovoltaic panels is to solve the problem of path planning.Were studied in the western region of large solar photovoltaic panels power station environment background,the mobile platform cleaning robot based on improved ant colony algorithm for global path planning solution.In the past only show 2 d length information in environment model,on the basis of improvement-increasing risk this concept,expand more close to reality simulation intelligent path planning problem;In addition,the study and application of the 3d map information of solar photovoltaic power station are carried out.The main jobs are as follows:(1)To solve the problem of the large-scale solar power plant in the western region,the solution for the clean solution of wheeled mobile robot is proposed.The environmental model of solar photovoltaic power station is simulated,and the global path planning of the clean robot is studied.Sets the solar photovoltaic panels to obstacles in environment map,this paper proposes a probability theory and the combination of ant colony algorithm based on improved grid environment modeling method,through the selection process in the search path probability weighted strategy,global path planning simulation experiments.Experimental results show that the improved modeling method is superior to traditional modeling.(2)In order to overcome the control parameters in the ant colony algorithm is difficult to determine,is easily trapped in local degrees of freedom,the phenomenon such as precocious,using cloud model theory to improve the ant colony algorithm,based on the cloud membership function parameter control,the implementation algorithm of the adaptive adjustment strategy,eventually reduce the iteration speed of the algorithm.Compared with basic ant colony algorithm of the experimental results show that the improved ant colony algorithm photovoltaic panels cleaning robot path planning methods to improve the efficiency of robot path planning,and safety,avoiding obstacles.(3)In view of the cleaning robot in the work environment,because of climate change and the dust weather influence,such as planning and dynamic obstacles in the path of conflict problem,hope to improve off-road performance and efficiency of robot path planning,a threedimensional path planning method is put forward.According to the probability distribution of the terrain elevation height is different,to set up different by priority,will change to high and low terrain elevation and optimal shortest path balance each other,thus intelligent synthesis a distance and the shortest path in the path of the high and low terrain with moderate difficulty,using MATLAB software to design the simulation environment,verify the effectiveness of the proposed method.(4)According to the simulation results of this paper,combined with the practice,mature and highly free customizable experiment platform,a large number of simulation experiments,and obtained valuable experimental data,and in this study,it is concluded that the simulation simulation experiment and the gap between the practical work requirements,points out the deficiency and the future focus direction of the work.