Research on task path planning method for substation inspection robot and UAV based on genetic algorithm

Wenjie Zheng; Yong Li; Sun Li; Yiwei Sun; Yi Yang

doi:10.1117/12.3015333

4 March 2024 Research on task path planning method for substation inspection robot and UAV based on genetic algorithm

Wenjie Zheng, Yong Li, Sun Li, Yiwei Sun, Yi Yang

Proceedings Volume 12981, Ninth International Symposium on Sensors, Mechatronics, and Automation System (ISSMAS 2023); 129814N (2024) https://doi.org/10.1117/12.3015333
Event: 9th International Symposium on Sensors, Mechatronics, and Automation (ISSMAS 2023), 2023, Nanjing, China

Abstract

Based on the inspection environment and tasks of substation inspection robots and drones, a grid method is proposed to simulate the division of three-dimensional point cloud data in substations, decompose it into a series of grid units with binary information, and combine genetic algorithm to perform global path planning for substation inspection robots. Through MATLAB simulation, it has been proven that this method combining grid maps, 3D point clouds, and genetic algorithms can quickly and effectively obtain the optimal obstacle avoidance path for robots and drones in known environments.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Wenjie Zheng, Yong Li, Sun Li, Yiwei Sun, and Yi Yang "Research on task path planning method for substation inspection robot and UAV based on genetic algorithm", Proc. SPIE 12981, Ninth International Symposium on Sensors, Mechatronics, and Automation System (ISSMAS 2023), 129814N (4 March 2024); https://doi.org/10.1117/12.3015333

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