Research On Multi Robot Cooperative Inspection Scheduling And Motion Planning

In order to ensure the stability and safety of the operation of power equipment,regular inspections are required to eliminate hidden dange rs in the operation of the power system.With the rapid development and broad application o f multi-robot technology,multi-robot power inspection has become one of the development trends.In order to improve the efficiency of multi-robot collaborative inspection and ensure the safety of robot inspection,this paper conducts research on multi-robot collaborative inspection scheduling and motion planning methods.The specific research contents are as follows:Aiming at the needs of multi-mobile robots for collaborative inspection of multiple points,the robot task scheduling method is studied.A mu lti-robot collaborative inspection task scheduling model is established according to the actual inspection task characteristics,combined with the kinematic constrai nts and task capabilities of mobile robots.A bidding price calculation method is construct ed based on the distance between the robot and the inspection point and the robot’s ability to perform tasks.A multi-robot inspection scheduling algorithm is propos ed based on the auction mechanism.The simulation test results show that the algorithm proposed in this paper has a significant advantage in solving efficiency compared with the genetic algorithm and can quickly realize task scheduling for the multi-machine cooperative inspection task scheduling problem.In order to improve the efficiency of mobile robot inspection tasks,the research on the path planning method of mobile robots with the shortest time as the index is carried out.Through the test of the tur ning characteristics of the mobile robot,the turning time data of the robot at different t urning angles are obtained,and the approximate expression of the path time cost is constructed as the cost calculation basis on the path search process.The node expansion method and cost function calculation method are customized,and an improved RRT* se arch algorithm is proposed to achieve obstacle avoidance and path time optimization.The simulation test results show that the improved algorithm can meet the needs of path planning,and compared with the RRT* algorithm,the better solution of the path time can be obtained.Aiming at the problem that the discrete path does not meet the dynamic constraints of the robot.The robot has a sudden change in speed and accele ration during the execution process,the research on the trajectory optimization method based on the discrete path is carried out in order to obtain a smooth trajectory with continuous position,velocity,and acceleration and a feasible trajectory that satisfies the initial state constraints and target state constraints of the mobile robot,a trajectory optimization scheme based on Bezier curve is introduced.The algorithm is based on Minimum Snap trajectory optimization and safety corridor and uses Bezier curves to obtain continuous and smooth safety trajectories of speed and acceleration.The comparative simulation test results show that Bezier curves can improve the safety of the optimized trajectory compared with Minimum Snap.In order to further verify the effectiveness and feasibility of the multi-robot collaborative scheduling and motion planning method studied in this paper,a multi-mobile robot collaborative inspection platform is built.According to the actual inspection task requirements,a multi-robot collaborative inspection test is carried out to verify task scheduling,path planning,and trajectory optimization algorithms in this paper.