新型电缆通道信息探测机器人移动路径自动化规划系统  

A Novel Mobile Path Automation Planning System for Cable Channel Information Detection Robot

作　　者：李乾 任树贞 王天义 LI Qian;REN Shuzhen;WANG Tianyi(Shijiazhuang Power Supply Branch of State Grid Hebei Electric Power Co.,Ltd.,Shijiazhuang 050000,China;Hebei Chihai Technology Co.,Ltd.,Shijiazhuang 050000,China)

机构地区：[1]国网河北省电力有限公司石家庄供电分公司,石家庄050000 [2]河北驰海科技有限公司,石家庄050000

出　　处：《自动化与仪表》2024年第5期68-72,共5页Automation & Instrumentation

基　　金：河北省重大科技成果转化专项(22280101Z)。

摘　　要：该文设计新型电缆通道信息探测机器人移动路径自动化规划系统,为机器人规划出一条无碰撞最优路径,确保其在电缆通道环境安全运行。多目摄像机、多种传感器探测电缆通道环境信息,利用栅格法完成电缆通道空间环境建模,采用基于人工势场引导的RRT算法规避电缆通道环境中的障碍物,完成路径规划。实验结果表明,该系统可使信息探测机器人在电缆通道中无碰撞移动,规划后的移动路线平滑度高,路线长度短、节点数少;静态、动态障碍物环境下的避障成功率分别达到97.2%、90%。The robot plans a collision free optimal path to ensure its safe operation in the cable channel environment,and designs a new type of automatic planning system for the mobile path of the cable channel information detection robot.Multi camera and multiple sensors detect the environmental information of cable channels,and use grid method to model the spatial environment of cable channels.The RRT algorithm based on artificial potential field guidance is used to avoid obstacles in the cable channel environment and complete path planning.The experimental results show that the system can enable the information detection robot to move in the cable channel without collision,with high smoothness of the planned movement route,short route length,and fewer nodes.The success rates of obstacle avoidance in static and dynamic obstacle environments reached 97.2%and 90%respectively.

关 键 词：电缆通道 机器人路径规划 栅格法 人工势场 RRT算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]