Research on automatic path planning for obstacle avoidance of intelligent substation patrol robot

Dawei Lu; Xuefeng Ning; Long Li

doi:10.1117/12.2686614

10 August 2023 Research on automatic path planning for obstacle avoidance of intelligent substation patrol robot

Dawei Lu, Xuefeng Ning, Long Li

Proceedings Volume 12759, International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2023); 127590M (2023) https://doi.org/10.1117/12.2686614
Event: 2023 3rd International Conference on Automation Control, Algorithm and Intelligent Bionics (ACAIB 2023), 2023, Xiamen, China

Abstract

Most of the current automatic planning and execution codes for the obstacle avoidance path of the patrol robot in the substation are single structure, and the planning scope is limited, which leads to the increase of the optimal time consumption of the automatic planning. Therefore, the research on the automatic planning of the obstacle avoidance path of the patrol robot in the intelligent substation is proposed. According to the actual planning requirements and standards, the basic data collection of the robot is carried out, and the obstacle avoidance operator is set. In the form of multi-objective, expand the actual planning scope, design the robot multi-objective obstacle avoidance path code, and based on this, calculate the fitness function, design an adaptive three-dimensional obstacle avoidance path automatic planning model, and use depth grid modification to achieve automatic path planning processing. The final test results show that after three stages and five independent unit areas of test comparison, the TR20 robot selected in the G intelligent substation has relatively high completion rate for the test task, and better control the optimal time consumption of automatic obstacle avoidance path planning to less than 0.5s, indicating that this kind of planning scheme will be more targeted and stable. The patrol robot can also avoid the area where obstacles appear faster and more timely, and design the shortest path, which has practical application value.

Citation Download Citation

Dawei Lu, Xuefeng Ning, and Long Li "Research on automatic path planning for obstacle avoidance of intelligent substation patrol robot", Proc. SPIE 12759, International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2023), 127590M (10 August 2023); https://doi.org/10.1117/12.2686614

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KEYWORDS

Design and modelling

3D modeling

Inspection

Standards development

Calibration

Data conversion

Data transmission

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