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

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 multiobjective, 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.