Research On Path Planning Of Substation Patrol Robot Based On Laser Navigation

In recent years,patrol robot were been widely used in the substation system,compared with manual inspection,it improves the safety,reliability and data accuracy.However,The complicated environments of substation system will limit the running speed of the robot and cause errors in the detection;On the other hand,large number of points that need to be inspected in the substation.The duplicated path will occur with unreasonable path planning,resulting in failure to complete the inspection task within the specified time.The inspection task cannot be completed due to insufficient battery power,which directly affects the work progress and Inspection efficiency of the robot.Due to the above reasons,the efficiency of robot inspection is currently around 80%.In order to improve efficiency,many manufacturers adopt the method of increasing the quantity of robots which will increasing the investment costs and maintenance costs.This study aimed to reduce the costs(of investment and maintenance costs)by reducing deviation and path planning to improving efficiency.In order to solve the deviation problem of the robot in the process of inspection,the PID control algorithm is usually used to solve it.Although the deviation correction effect is achieved,it has some deficiencies in anti-interference and robustness.In this study,laser navigation system is used to make the location of inspection robot in substation more precise,and to find inspection point more quickly and accurately.Based on the traditional PID control algorithm,the fuzzy algorithm is integrated to adjust the three parameters of the PID parameters K_p,K_iand K_d.Through simulation comparison,compared with the traditional PID control algorithm,the fuzzy PID control algorithm has certain advantages in stability and robustness.Ant colony algorithm(ACO)has attracted widespread attention for path optimization since it was proposed.Under the research point of Patrol Robot Path Planning,the idea and implementation steps of traditional ant colony algorithm are deeply analyzed,and several important parameters in the ant colony algorithm are improved in the view of the local optimal problem of traditional algorithms.The simulation results show that the length of the improved path is reduced by 1.66%,the improved optimization results are verified.Finally,the software and hardware design of the laser-guided inspection robot can realize autonomous navigation,automatic correction of deviation.According to the shortest path,The inspection operation saves the operation and maintenance cost of the substation,improves the accuracy and objectivity of the inspection work,and greatly improves the inspection efficiency,Which has a very important significance for promoting the intelligent development of substations.