基于改进Prim算法的变电站巡检机器人路径规划  

Path Planning of Robot for Substation Inspection Based on the Improved Prim Algorithm

作　　者：任仕玖[1] 宋晖[1] 蒋勋[2] 

机构地区：[1]西南科技大学计算机学院,四川绵阳621010 [2]中国石油西南油气田分公司,四川成都610051

出　　处：《西南科技大学学报》2011年第1期61-63,共3页Journal of Southwest University of Science and Technology

基　　金：科技部中小企业创新基金(09C26215105358)

摘　　要：变电站巡检机器人主要代替人进行变电站设备巡检,全面实现变电站无人值守。通过GPS定位技术获取机器人及设备位置信息,并将其抽象成网状存储结构,利用改进Prim算法生成最小生成树,同时,设计遍历算法遍历最小生成树,使路径回溯花费最小,完成机器人巡检路径规划。仿真实验结果表明,算法具有数据结构简单、执行效率高的特点。The inspection robot instead of person inspects equipment in substraction fully realized automation of substraction detection.We used GPS positioning technology to get location information of equipments and robot,it was abstracted to form a network.This paper took into account the efficiency of algorithms and the complexity of data structure,on the one hand used the neighbor table as network storage structure and used improved prim algorithm to generate minimum spanning tree;on the other hand,designed traversal algorithm to traverse minimum spanning tree so that the cost of path backtracking is the smallest to complete path planning for inspecting.The simulation shows that the data structure the algorithm is simple,and the efficiency of the implementation is very high.

关 键 词：巡检机器人 改进Prim算法 最小生成树 路径规划 变电站 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]