基于改进A*算法的变电站智能巡检机器人路径优化方法研究  

Research on path optimization method of substation intelligent inspection robot based on improved A*algorithm

作　　者：连兴文 朱旭东 陈云海 王少楠 LIAN Xingwen;ZHU Xudong;CHEN Yunhai;WANG Shaonan(Kunming Bureau of EHV Transmission Company,China Southern Power Grid Co.,Ltd.,Kunming 650000,China)

机构地区：[1]中国南方电网有限责任公司超高压输电公司昆明局,云南昆明650000

出　　处：《电子设计工程》2023年第18期95-99,共5页Electronic Design Engineering

基　　金：中国南方电网有限责任公司科技项目(0100002020040105WL10191)。

摘　　要：针对传统A*算法规划下变电站智能巡检机器人可能出现的巡检路径不够平滑、规划距离较长及无法有效避障等问题,提出了一种改进的A*算法。该算法采用24邻域进行启发式搜索,使得寻优搜索更具有连续性与多样性。同时,在A*算法启发函数的基础上引入了碰撞威胁代价,使其与巡检途中的路径代价共同组成实际代价,从而实现有效的避障规划。仿真实验表明,改进算法规划出的路径不仅完整、平滑且距离较短,还能有效规避障碍。Aiming at the problems that the inspection path of substation intelligent inspection robot under the traditional A*algorithm planning may be not smooth enough,the planning distance is long and can not avoid obstacles effectively,an improved A*algorithm is proposed in this paper.The improved algorithm uses 24 neighborhood heuristic search to make the optimization search more continuous and diverse.At the same time,based on the heuristic function of A*algorithm,the collision threat cost is introduced,which together with the path cost during patrol inspection constitutes the actual cost,so as to effectively carry out obstacle avoidance planning.Simulation results show that the path planned by the improved algorithm is complete and smooth,the distance is short,and can effectively avoid obstacles.

关 键 词：A*算法 变电站 智能巡检 24邻域 启发函数 碰撞威胁代价 

分 类 号：TN911[电子电信—通信与信息系统] TP391[电子电信—信息与通信工程]