架空线路防冰绝缘漆喷涂机器人路径优化策略研究  

Research on deicing path optimization strategy of overhead lineanti- ice insulating paint spraying robot

作　　者：赵四化[1] 袁慧 王琪[1] ZHAO Si-hua;YUAN Hui;WANG Qi(School of Automation and Electrical Engineering,Chengdu University of Technology,Chengdu 611730,China;School of Engineering and Technology,Sichuan Open University,Chengdu,610073,China)

机构地区：[1]成都工业学院自动化与电气工程学院,四川成都611730 [2]四川开放大学工程技术学院,四川成都610073

出　　处：《西南民族大学学报（自然科学版）》2022年第4期415-420,共6页Journal of Southwest Minzu University(Natural Science Edition)

基　　金：四川省教育厅理科一般项(18ZB0038);四川开放大学重点教改项目(XMGCJS2021001Z)。

摘　　要：因暴雪、冰冻等自然灾害,需要采用防冰绝缘漆喷涂机器人对架空导线敷设绝缘漆.在喷涂敷设过程中,需要优化防冰绝缘漆喷涂机器人行进路径,使其具有最短路径.基于此,以防冰绝缘漆喷涂机器人为研究对象,以防冰绝缘漆喷涂机器人路径规划为研究重点,提出了一种新的路径规划方案.方案分析了防冰绝缘漆喷涂机器人的运动学模型,构建了基于电量约束条件的路径函数,在传统灰狼优化算法的基础上对其进行改进,通过Logistic映射优化灰狼种群初始化,并对收敛因子进行自适应调整,对三只头狼进行静态权重加权处理,以此提高收敛的速度与精度.仿真结果表明所提方案具有更快的收敛速度,更好的收敛精度,优化后的路径长度平均缩短10%左右.Due to natural disasters such as Blizzard and freezing, it is necessary to use anti-ice insulating paint spraying robot to lay insulating paint on overhead conductors.In the process of spraying and laying, it is necessary to optimize the travel path of the anti-ice insulating paint spraying robot to make it have the shortest path.Based on this, taking the anti-ice insulating paint spraying robot as the research object and focusing on the path planning of the anti-ice insulating paint spraying robot, a new path planning scheme is proposed.The kinematics model of the anti-ice insulating paint spraying robot is analyzed, and the path function based on the electric quantity constraint condition is constructed.Based on the traditional gray wolf optimization algorithm, the grey wolf population initialization is optimized by Logistic mapping, and the convergence factor is adjusted adaptively.The static weight of three wolves is weighted to improve the convergence speed and accuracy.The simulation results show that the proposed scheme has faster convergence speed and better convergence accuracy, and the optimized path length is reduced by about 10%.

关 键 词：喷涂机器人 灰狼算法 路径 优化 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构] TP242[自动化与计算机技术—计算机科学与技术]