考虑时空特征的机器人VRP问题求解方法  

The Solution Method of VRP for Robot Considering Spatiotemporal Characteristics

作　　者：张炜 宾冬梅 梁俊斌[2] ZHANG Wei;BIN Dong-mei;LIANG Jun-bin(Electric Power Research Institute of Guangxi Power Grid Co.,Ltd.,Guangxi Nanning 530023,China;Guangxi Key Laboratory of Multimedia Communications and Network Technology,Guangxi University,Guangxi Nanning 530004,China)

机构地区：[1]广西电网有限责任公司电力科学研究院,广西南宁530023 [2]广西大学广西多媒体通信与网络技术重点实验室,广西南宁530004

出　　处：《机械设计与制造》2023年第2期290-294,共5页Machinery Design & Manufacture

基　　金：国家自然科学基金项目—不可靠通信环境下极低工作周期移动传感网中快速数据收集研究(61562005);中国南方电网公司科技项目—基于多源异构数据处理的变电站巡检机器人集控主站系统开发与应用(GXKJXM20180356)。

摘　　要：针对多台变电站巡检机器人在同时调度分配过程中的转移运用车辆路径问题(Vehicle Routing Problem,VRP),提出了基于时空特征的机器人群体路径规划算法,有助于提高机器人在电力生产中的应用效能。首先建立基于变电站位置的纵横坐标构建平面二维坐标的宏观路网;其次梳理变电站之间的距离、机器人的能耗等约束条件,并构建考虑变电站巡检时间窗的时空三维坐标系;最后遍历搜索各台机器人完成区域内变电站巡检任务的可选路径,并在组合优化后提出解决机器人转移运用VRP问题的调配方案。实际应用效果表明,该方法能够在满足变电站多时间窗边界的基础上得到最优路径。Aiming at thevehicle routing problem(VRP)in the process of dispatching multiple substation inspection robots,a path planning algorithm based on spatiotemporl characteristics is proposed,which can fully apply the robot.In this method,First of all,a macro road network with two-dimensional plane coordinates is built based on the vertical and horizontal coordinates of the substation location.Secondly,the Spatiotemporl three-dimensional coordinate system which can be used to analyze the distance of substation,energy of robot and time window of inspection is constructed.Finally,the routing paths that can be selected by each robot are searched,and the deployment scheme for solving the vehicle routing problem is proposed.The practical application results show that the method can get the best path planning scheme on the basis of satisfying the constraints of multiple time windows.

关 键 词：变电站 机器人 路径规划 时间窗 车辆路径问题 约束条件 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]