| 引用本文: | 董翔宇,季 坤,朱 俊,杨 波.对特高压变电站巡检机器人路径规划改进蚁群算法的研究[J].电力系统保护与控制,2021,49(18):154-160.[点击复制] |
| DONG Xiangyu,JI Kun,ZHU Jun,YANG Bo.A retrofitted ant colony algorithm for inspection robot path planning in UHV substations[J].Power System Protection and Control,2021,49(18):154-160[点击复制] |
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| 摘要: |
| 针对当前变电站巡检机器人路径规划算法存在的规划和适应性较弱等问题，在特高压变电站巡检机器人系统结构的基础上，提出了一种结合蚁群优化算法和人工势场算法的特高压变电站路径规划方法。将蚁群算法的传统单向搜索改进为双向搜索，在启发因子中加入人工势场力的合成方向，并对转移概率进行改进。通过栅格法构建特高压变电站仿真环境，进一步验证了所提规划方法的优越性。仿真结果表明，改进算法具有显著改善迭代次数和最小路径的效果，20×20栅格环境迭代15次收敛到长度26的最优路径，30×30栅格环境迭代70次收敛到长度43的最优路径。 |
| 关键词: 特高压变电站 巡检机器人 路径规划 蚁群算法 人工势场算法 |
| DOI：DOI: 10.19783/j.cnki.pspc.201581 |
| 投稿时间：2020-12-22修订日期：2021-02-15 |
| 基金项目:国家电网公司总部科技项目资助(521203190009) |
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| A retrofitted ant colony algorithm for inspection robot path planning in UHV substations |
| DONG Xiangyu,JI Kun,ZHU Jun,YANG Bo |
| (Overhaul Branch, State Grid Anhui Electric Power Co., Ltd., Hefei 230001, China) |
| Abstract: |
| Current substation inspection robot path planning algorithms are subject to problems of weak planning and adaptability. Based on the system structure of a UHV substation inspection robot, a path planning method for a substation is proposed, one which combines an ant colony optimization algorithm and an artificial potential field algorithm. The traditional one-way search of an ant colony algorithm is improved to two-way search, the synthetic direction of artificial potential field force is added to the heuristic factor, and the transition probability is improved. The grid method is used to construct the simulation environment of a UHV substation. This demonstrates the superiority of the proposed planning method. The simulation results show that the improved algorithm can significantly improve the number of iterations and the minimum path. The 20×20 grid environment converges to the optimal path of length 26 in 15 iterations, and the 30×30 grid environment converges to the optimal path of length 43 in 70 iterations.
This work is supported by the Science and Technology Project of the Headquarters of State Grid Corporation of China (No. 521203190009). |
| Key words: UHV substation inspection robot path planning ant colony algorithm artificial potential field algorithm |
