变电站智能巡检机器人全局路径规划设计  

Globalpath planning design of transformer substation intelligent inspection robot

作　　者：陈瑶[1] 陈阿莲[1] 李向东[2] 陈伟[2] 

机构地区：[1]山东大学控制科学与工程学院,山东济南250061 [2]山东省科学院自动化研究所,山东省机器人与制造自动化技术重点实验室,山东济南250014

出　　处：《山东科学》2015年第1期114-119,共6页Shandong Science

基　　金：山东省科技发展计划项目(2013GZX20305)

摘　　要：针对国内变电站智能巡检机器人行走路线的特点,建立半结构化的道路模型。提出将改进的Dijkstra算法与模拟退火算法相结合,应用到变电站智能巡检机器人的全局路径规划中,在数据库技术的基础上采用VC++对上述算法进行软件设计与实现,构建具有全局路径规划功能的电子地图系统。该系统已在变电站的智能巡检机器人系统平台下进行实验并投入使用,现场运行结果证明该方法高效可行。We established a semi-structured road model for the characteristics of walking route of domestic transformer substation inspection robots. It combined the improved Dijkstra and simulated annealing algorithms and then was applied to the design of global path planning of transformer substation intelligent inspection robot. We also constructed an electronic map system with global path planning functionality, which was based on SQL Server and VC ＋ ＋. The system has been put into operation in a transformer substation inspection robot platform. Actual operation results show that the model is feasible and highly-efficient.

关 键 词：半结构化 改进的Dijkstra算法 模拟退火算法 路径规划 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]