Research On Intelligent Algorithm For Path Planning Of Substation Inspection Robot

The double restriction of cost and technology makes the traditional manual inspection still the main mode of the domestic substation inspection.In the background of the various disadvantages of the manual inspection,the substation inspection robot emerges as the times require.As an important technology of substation inspection robot,path planning is also developing with the development of artificial intelligence.Analysis of the substation environment and map modeling are prerequisites for path planning.In this dissertation,by analyzing the characteristics of the substation environment and the interaction between robot and environment,the navigation and positioning mode of the robot is determined,and the comprehensive modeling of the substation environment is completed by the gradual abstraction and simplification of the map.This work will provide environmental data for path planning of substation inspection robot.Designing the intelligent algorithm is the main work of path planning in this dissertation.First,the performance of genetic algorithm,ant colony algorithm,particle swarm optimization and fireworks algorithm are tested by simulation.To solve the premature problem of algorithms caused by the lack of information interaction among the population,this dissertation presents an improved discrete fireworks algorithm which is increased in the strengthened explosion operation.The test results show that,the average error of the algorithm in the traveling salesman problem of 52 cities is only 0.24%,which is far below the 1.68%of the ant colony algorithm and 3.64%of the basic fireworks algorithm;the average of the traveling salesman problem of 127 cities.The error is only 1.45%,which is 3.37%less than the ant colony algorithm and 2.61%less than the basic fireworks algorithm.Then,the method of substation path planning based on ant colony algorithm and improved discrete fireworks algorithm is proposed.The comparison results show that the improved discrete fireworks algorithm has a better global planning result.Finally,this dissertation creates a user interface which is convenient for the substation staff to monitor the robot inspection work in real time.