Autonomous obstacle crossing method of substation inspection robot based on locust optimization algorithm

Abstract

Since the attitude angle between the gripper and the roller of the robot arm is not adjusted during the autonomous obstacle surmounting process of the substation inspection robot, and the obstacle surmounting route found is not optimal, the path of the substation inspection robot for autonomous obstacle surmounting is not the optimal result. Therefore, the autonomous obstacle surmounting method of the substation inspection robot based on locust optimization algorithm is proposed. After calculating the vertical distance between the overhead line and the working ground and adjusting the attitude angle between the gripper and the roller of the manipulator, a two-dimensional Gaussian scale space is constructed to extract the key feature points of the obstacle image in the space. According to the feature extraction results, combined with the locust optimization algorithm, the autonomous obstacle path of the substation inspection robot is planned to obtain the most superior obstacle path. In the experiment, the obstacle surmounting effect of the proposed method is verified. The experimental results show that the error rate of the optimal solution is low, and the path planning performance is good when the proposed method is used for robot autonomous obstacle crossing control.

Optimal deployment of the online monitoring equipment at the edges of substations considering spatial constraint

“…They proposed a path optimization method based on improved ant colony algorithm as well as a method for selecting inspection stop points based on greedy clustering. To realize automatic calibration of the inspection points for the substation inspection robots, Wang et al 9 proposed a spatial relationship based method for automatically generating inspection points for substation inspection robots to improve the intelligence of equipment inspection. Rodrigues et al 10 proposed that in addition to optimizing edge servers, attention should also be paid to the deployment of edge servers.…”