复杂环境输电线路巡检机器人协同路径规划  

Cooperative Path Planning of Transmission Line Inspection Robot in Complex Environment

作　　者：郑武略 郑扬亮[2] 张鑫 刘楠 陈庆鹏 ZHENG Wu-lue;ZHENG Yang-liang;ZHANG Xin;LIU Nan;CHEN Qing-peng(China Southern Power Grid Co.,Ltd.,EHV Power Transmission Company,Guangzhou 510000 China;China Southern Power Grid Co.,Ltd.,Guangzhou 510663 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,广东广州510000 [2]中国南方电网有限责任公司,广东广州510663

出　　处：《自动化技术与应用》2025年第2期13-16,25,共5页Techniques of Automation and Applications

基　　金：南方电网科技项目(CGYKJXM20210305)。

摘　　要：为提升协同路径规划效果,降低碰撞危险,提出复杂环境输电线路巡检机器人协同路径规划方法。以最小总能耗为目标函数,建立复杂环境输电线路巡检机器人路径规划模型;在该模型的基础上,引入基于优先级的交通规则与基于定时等待的交通规则,建立以最短路径距离与最小总能耗为目标的巡检机器人协同路径规划模型;利用改进蚁群算法,求解协同路径规划模型,得到最短路径距离与最小总能耗的协同路径规划结果。实验证明:该方法可有效协同规划巡检机器人路径,降低巡检时间与巡检能耗;不同障碍物比率时,该方法规划路径的覆盖率较高,规划效果较优。The cooperative path planning method of transmission line inspection robot in complex environment is studied to improve the ef-fect of cooperative path planning and reduce the risk of collision.Taking the minimum total energy consumption as the objective function,the path planning model of transmission line inspection robot in complex environment is established.On the basis of this model,the traffic rules based on priority and the traffic rules based on timed waiting are introduced,and the cooperative path planning model of inspection robot is established with the goal of the shortest path distance and the minimum total energy con-sumption.The improved ant colony algorithm is used to solve the cooperative path planning model,and the cooperative path plan-ning results of the shortest path distance and the minimum total energy consumption are obtained.The experiment shows that this method can effectively coordinate the path planning of the inspection robot and reduce the inspection time and energy consump-tion.When the ratio of obstacles is different,the coverage rate of the planned path is higher,the planning effect is better.

关 键 词：输电线路巡检 机器人 协同路径规划 蚁群算法 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] TP242[自动化与计算机技术—控制科学与工程]