Study On Environment Map Construction And Path Planning Of Robot Based On Swinging LiDAR

With the continuous expansion of the number and scale of domestic substations,the intellectualization of substations has become the main development trend,and the intelligent inspection robot of substations has become an indispensable part to realize the intellectualization of substations.The substation patrol inspection robot can not only reduce the labor cost,but also make the substation inspection work more standardized.In the special working environment of substation,special requirements are put forward for robot’s environmental information perception ability and path planning ability.Based on the comprehensive analysis of the characteristics of substation environment and the requirements of inspection robot,this paper proposes a method of swinging lidar to realize the environmental information awareness of substation,further realizes the construction of environmental map,and studies its path planning.The main research contents are as follows:(1)According to the difference between 2-D Li DAR and 3-D Li DAR,a new swinging mechanism of 2-D Li DAR is proposed,which makes up for the deficiency that 2-D Li DAR can only obtain information on a single plane when scanning the environment,and realizes the 3-D perception of the environment by 2-D Li DAR.According to the swing geometry structure,the corresponding relationship between coordinate systems is deduced,and the transformation from 2-D plane coordinate data to 3-D coordinate is realized.Thus,a 3-D environment awareness system based on swinging Li DAR is constructed.(2)In order to realize the autonomous navigation of robot,the point cloud data of swinging Li DAR is divided into obstacle blocks in grid map,and the grid environment map based on swinging Li DAR is constructed and updated.According to the coordinate transformation algorithm,3-D laser point cloud is constructed.After eliminating the ground point cloud data,the laser point cloud data reflecting the obstacle information is projected to the grid map,and the occupied grids in the grid map are clustered by region growing method.(3)In order to make the robot reach the inspection task point accurately and quickly,this paper uses the improved ant colony optimization to simulate the dynamic path planning of the robot on the grid map.Through the analysis and improvement of ant colony optimization,the randomness and convergence speed of ant colony optimization are improved.The optimal path planned by the improved ant colony optimization is smoothed to further optimize the mobile path of the robot,which reduces the rotation angle and mobile path of the robot.Simulation based on swinging Li DAR environment awareness barrier data real-time update,in the update map to re plan the path,realize the dynamic path planning method.The environment perception and path planning system based on swinging Li DAR is studied in this paper.The feasibility and reliability of the proposed scheme are verified by experiments and simulation.On the basis of meeting the working requirements of patrol inspection robot,the cost is reduced,which has good research significance and application prospects.There are 59 pictures,9 tables and 73 references in this paper.