基于改进双向A^(*)算法的巡检机器人路径规划研究  

Research on Path Planning of Inspection Robot Based on Improved Bidirectional A^(*)Algorithm

作　　者：郭永强 王督 吴小燕 高伟 GUO Yongqiang;WANG Du;WU Xiaoyan;GAO Wei(Information Communication Branch of State Grid Henan Electric Power Co.,Ltd.,Zhengzhou 450052,China;Fujian Yirong Information Technology Co.,Ltd.,Fuzhou 350003,China)

机构地区：[1]国网河南省电力公司信息通信分公司,河南郑州450052 [2]福建亿榕信息技术有限公司,福建福州350003

出　　处：《机械制造与自动化》2025年第2期233-237,253,共6页Machine Building & Automation

摘　　要：针对现有巡检机器人路径规划方法存在的规划路径长、效率低等问题,提出一种改进的双向A^(*)算法和改进的人工场势法相结合的混合路径规划方法用于变电站巡检机器人。通过采样策略、搜索策略、路径平滑策略优化双向A^(*)算法完成全局路径规划,并使用改进的人工场势法进行局部规划。结果表明:改进后路径规划更加安全和高效,缩短了路径长度和搜索时间。A hybrid path planning method combining an improved bidirectional A^(*)algorithm and an improved artificial field potential method is proposed for substation inspection robots to address the problems of long planning paths and low efficiency in existing path planning methods for inspection robots.The bidirectional A^(*)algorithm is optimized through sampling strategy,search strategy and path smoothing strategy to complete the global path planning,and the improved artificial field potential method is used for local planning.The results show that the improved path planning is more secure and efficient,reduction in path length and search time.

关 键 词：巡检机器人 路径规划 双向A^(*)算法 人工场势法 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]