The Research On Path Planning In Transformer Substation Inspection Robot System

As a serious electric energy consumer in the world,we have the world's largest power grid system.The safety of power grid has been becoming more and more important in the development of economic.With the development of intelligent technology and informatization,the measures to protect the power grid is becoming more and more intelligent.Substation inspection robot,as an important component in the development of intelligent power grid,has been causing many power gird's and enterprise's attention.And it's development changes with each passing day.At the first,the present situation and tendency of the development of substation inspection and mobile robot has been analyzed,we focused on the path planning problem of substation inspection robot.According to the existing substation inspection robot research,we analyzed the advantages and disadvantages of the existing substation inspection robot path planning.Aimed at the limitations of existing related path planning technology,this paper introduced a more effective path planning method.Path planning in this article had two meanings,one was global path planning to find a route from one point to another,another was to avoid obstacle in local area.This paper focused on the inspection robot path planning.The embedded software and hardware structure of the robot system has been designed;In order to display the state of robot in real-time,the debugging and monitoring software based on Linux operating system has been designed;the method of sensor information process and fusion were also analyzed;After comparing related path planning algorithm,we used the A* algorithm in the field of inspection.The analysis and simulation of related path planning algorithm has been completed according to the actual situation;then,A path planning method based on variable grid map and potential field method for obstacle avoidance has been introduced,and we did the matlab simulation and some experiments of the algorithm at last.Finally,we obtained the corresponding control strategy according to the robot kinematics model,and the robot's trajectory and control methods has been calculated based on the above analysis.Last but not the least,the simulation results demonstrate the effectiveness of the path planning system.