Research On Dynamic Obstacle Avoidance Algorithm Of Substation Inspection Robots

Substation as an important part of the power grid,its stability and reliability have strict requirements.In order to ensure the safe and reliable operation of equipment and prevent power accidents,power equipment inspection has a pivotal position.However,due to the large number of substation equipment and inspection points,the manual inspection workload is too large.In order to protect the quality of electricity for users while improving the efficiency of substation inspection and reducing the workload of manual inspection,automatic inspection of substation equipment is particularly important.At present,the dynamic obstacle avoidance algorithm of inspection robots is not mature,and to meet the smooth operation of multiple inspection robots at the same time,the dynamic obstacle avoidance algorithm is studied in this paper.This paper analyzes the research status of domestic and foreign scholars in this field,summarizes the environmental characteristics of substations and the functions required by inspection robots,and introduces the principles of common algorithms for path planning.The core idea is to simulate the electric and gravitational potential fields in the natural potential field,place the target point,the obstacle and the inspection robot in the artificially constructed potential field,and tug the inspection robot to move under the combined effect of gravitational force and repulsive force.In view of the problems of unreachable target and local minimum trap in artificial potential field method,this paper optimizes the repulsive function and compares the effect of simulated annealing method and virtual intermediate target point method after optimizing the local minimum trap respectively,and obtains the path curve of inspection robot through MATLAB software simulation.In addition,the algorithm is improved for the obstacle avoidance in dynamic environment,and the gravitational function is constructed with relative velocity on the basis of the optimized effect in static environment,and the obstacle avoidance ability of the algorithm is analyzed by MATLAB software simulation.The simulation results show that the improved algorithm has smooth trajectory and can achieve obstacle avoidance in dynamic environment.In order to more intuitively verify the practical feasibility of the algorithm,this paper selects Apollo experimental platform,briefly describes the model and parameters of the required hardware,takes the sensors equipped with D-kit Lite development kit vehicle as the basis,transmits the data obtained from inertial navigation system,Li DAR and camera to Apollo experimental platform,simulates the situation of dynamic obstacles in the substation,analyzes the function of each module of the platform,builds the software environment,and debugs the sensors.In the experiment,the dynamic obstacles such as moving vehicles detected are simulated as other inspection vehicles or repair workers in the substation,and static obstacles such as cardboard boxes are simulated as the equipment to be inspected.The experiment was conducted in a simulated substation environment with a length of 70 m and a width of 7.5 m.When the inspection robot detected a static obstacle,its speed was reduced from 1.5m/s to 1.1m/s and the steering angle was 45°,which took 1.1 s.When the inspection robot detected a dynamic obstacle,its speed was reduced from 1.5m/s to 1.2m/s and the steering angle was-53°,which took 2.3 s.The experiment proves that the improved algorithm can successfully avoid the sudden obstacles and finally reach the target point.The improved artificial potential field algorithm meets the requirements of substation inspection and can provide an effective method for the substation inspection robot to avoid obstacles.