A Path Planning Method for Substation Laser Inspection Robot Based on Improved Ant Colony Algorithm

DOI

10.2991/iccia-17.2017.10How to use a DOI?

Keywords

Laser Inspection Robot, Path plan, Topology, Undirected Graph, Ant Colony Algorithm, Dijkstra Algorithm.

Abstract

In order to shorten the inspection path and time-consuming, improve the intelligence degree of the laser inspection robot and apply to the large-scale TSP in the substation, the paper proposes a path planning method based on the improved ant colony algorithm, the navigation method, the walking characteristics, the inspection task and the road environment. This method uses the topological method to model the road environment. The Dijkstra algorithm and the improved ant colony algorithm are used to plan the inspection path of the laser inspection robot. In this way, the laser inspection robot can re-plan the new inspection path for the remaining undetected task points after encountering an obstacle, and finally return to the starting point. In this paper, Visual Studio C++ is used to test the improved ant colony algorithm and Greedy algorithm. The results show that the improved ant colony algorithm has obvious advantages in path length and the number of passing points, which can realize that the inspection route of the laser inspection robot is optimal or sub-optimal. At the same time, the dynamic simulation of the method is carried out based on MATLAB. The simulation results show that the method can realize self-real-timely avoid obstacle and re-plan the new inspection route after encountering an obstacle. It can ensure the completion of the inspection task. And the method has good applicability, robustness and high efficiency.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Yan Deng
AU  - Hongyu Hu
AU  - Xiaolu Tian
AU  - Jiake Liu
AU  - Mingyang Liu
AU  - Yafei Wang
PY  - 2016/07
DA  - 2016/07
TI  - A Path Planning Method for Substation Laser Inspection Robot Based on Improved Ant Colony Algorithm
BT  - Proceedings of the 2nd International Conference on Computer Engineering, Information Science & Application Technology (ICCIA 2017)
PB  - Atlantis Press
SP  - 62
EP  - 69
SN  - 2352-538X
UR  - https://doi.org/10.2991/iccia-17.2017.10
DO  - 10.2991/iccia-17.2017.10
ID  - Deng2016/07
ER  -