基于ACO算法的变电站运载机器人路径优化方法研究  

Research on Path Optimization Method for Substation Transport Robots Based on the ACO Algorithm

作　　者：严宇 潘舒妍 黄文杰 江维 樊绍胜[3] YAN Yu;PAN Shuyan;HUANG Wenjie;JIANG Wei;FAN Shaosheng(State Grid Hunan EHV Substation Company,Changsha 410004,China;Substation Intelligent Transportation and Inspection Laboratory of State Grid Hunan Company,Changsha 410004,China;School of Electrical and Information Engineering,Changsha University of Science and Technology,Changsha 410114,China;School of Mechanical Engineering and Automation,Wuhan Textile University,Wuhan 430073,China)

机构地区：[1]国网湖南省电力有限公司超高压变电公司,湖南长沙410004 [2]变电智能运检国网湖南省电力有限公司实验室,湖南长沙410004 [3]长沙理工大学电气与信息工程学院,湖南长沙410114 [4]武汉纺织大学机械工程与自动化学院,湖北武汉430073

出　　处：《南京工程学院学报（自然科学版）》2023年第3期39-46,共8页Journal of Nanjing Institute of Technology(Natural Science Edition)

基　　金：湖南省电力有限公司科技项目(5216A3220004)。

摘　　要：为提升变电站运载机器人的智能化水平,提出一种基于ACO算法的变电站运载机器人的最优路径规划方法.介绍ACO算法基本原理以及搜索过程,并对算法的参数进行理论分析;通过ACO算法与A*算法的仿真对比试验,验证了ACO算法在处理复杂路径问题上的优势;采用不同参数对ACO算法路径规划性能进行仿真得到最优算法参数;选取实际变电站对机器人运行进行现场测试,测试结果验证了本文所提算法的工程实用性.The substation transport robot is an intelligent equipment capable of transporting maintenance tools within the substation to designated locations,significantly improving the efficiency of substation maintenance.Operating within the complex environment of a substation,the robot can have multiple paths from the starting point to the target point when executing a transportation task.Optimizing the robot's path is crucial for enhancing its intelligence.Hence,this paper proposes a method for optimal path planning for substation transport robots based on the ACO algorithm.Initially,the basic principle and search process of the ACO algorithm are introduced,followed by a theoretical analysis of the algorithm parameters.Finaly,the advantages of ACO algorithm in tackling complex path problems are validated through a simulation comparison with the A"algorithm.Simultaneously,optimal algorithm parameters are obtained by simulating the performance of path planning with varying parameters of the ACO algorithm.Moreover,by selecting an actual substation for a field test of the robot operation,the engineering practicability of the proposed algorithm is verified.

关 键 词：变电站 运载机器人 路径规划 ACO算法 现场测试 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]