基于改进人工蜂群算法的核电巡检机器人路径优化策略设计  

Path optimization strategy design of nuclear power inspection robot based on improved artificial bee colony algorithm

作　　者：王远国 俞海兵 李云臣[1] 卓廉程 曹洋 WANG Yuanguo;YU Haibing;LI Yunchen;ZHUO Liancheng;CAO Yang(Daya Bay Nuclear Power Operation Management Co.,Ltd.,Shenzhen 518124,China)

机构地区：[1]大亚湾核电运营管理有限责任公司,广东深圳518124

出　　处：《电子设计工程》2023年第6期70-74,共5页Electronic Design Engineering

摘　　要：针对核电站巡检机器人在路径规划过程中存在的问题,文中提出了一种基于改进蜂群算法的核电巡检机器人路径优化方法。在深入分析了人工蜂群算法原理的基础上,针对其存在的收敛速度慢、容易陷入局部最优及全局搜索能力较弱等缺点,提出了改进的等距搜寻方法、并行选择机制与全局更新方法。该方法通过引入栅格法实现了巡检环境建模,构建了核电巡检机器人路径优化的数学模型,并采用改进的蜂群算法进行求解。以某核电站的实际巡检场景为例进行仿真验证,结果表明,相比于传统蜂群算法,所提算法的收敛速度更快、稳定性更好、寻优能力也更强,且得到的规划路径长度更短、质量更优,故能够提高核电巡检的智能化水平。Aiming at the problems existing in the path planning process of nuclear power plant inspection robot,a path optimization method of nuclear power inspection robot based on improved bee colony algorithm is proposed in this paper. Based on the in-depth analysis of the principle of artificial bee colony algorithm,aiming at its shortcomings such as slow convergence speed,easy to fall into local optimization and weak global search ability,an improved isometric search method,parallel selection mechanism and global update method are proposed. By introducing the grid method,the patrol environment modeling is realized,the path optimization mathematical model of nuclear power patrol robot is constructed,and the improved bee colony algorithm is used to solve it. The simulation results show that compared with the traditional bee colony algorithm,the proposed algorithm has faster convergence speed,better stability,stronger optimization ability,shorter planning path length and better quality,which can improve the intelligent level of nuclear power inspection.

关 键 词：人工蜂群算法 路径优化 收敛速度 寻优能力 

分 类 号：TP277[自动化与计算机技术—检测技术与自动化装置] TN99[自动化与计算机技术—控制科学与工程]