基于时间栅格法和最优搜索的电网巡检机器人避障路径规划方法

针对电网巡检机器人存在避障能力低下和路径规划不合理的问题,研究基于时间栅格法和最优搜索的电网巡检机器人避障路径规划方法.利用时间栅格法标识工作空间内障碍物,构建机器人电网巡检环境信息,通过最优搜索避障路径算法,全局规划机器人到达目标点的路径,结合改进势场法,通过调整斥力和引力势函数,计算合力实现机器人的局部避障及避障路径规划,形成全局和局部相结合的避障方法.试验结果表明,躲避静态障碍物和动态障碍物的平均躲避成功率分别为 ９８．３７％ 和 ９６． １２％ ,避障路径规划平均耗时为 １.５６ s ,具备快速、高效、精准的避障及路径规划能力,可提升机器人的动静态障碍物避障能力和路径规划效率.

Obstacle Avoidance Path Planning Method for Power Grid Inspection Robot Based on Time Grid Method and Optimal Search

Aiming at the problems of low obstacle avoidance ability and unreasonable path planning of power grid inspection robot , the obstacle avoidance path planning method of power grid inspection robot based on time grid method and optimal search is studied．The time grid method is used to identify the obstacles in the workspace , and the environment information of robot power grid inspection is constructed．Through the optimal search obstacle avoidance path algorithm , the robot ’s path to the target point is globally planned．Combined with the improved potential field method , the robot ’s local obstacle avoidance and obstacle avoidance path planning are realized by adjusting the repulsive force and gravitational potential function and calculating the resultant force , form a global and local obstacle avoidance method．The experimental results show that the average success rate of avoiding static obstacles and dynamic obstacles is ９８.３７％ and ９６．1２％ respectively , and the average time of obstacle avoidance path planning is １．５６s． It has the ability of fast , efficient and accurate obstacle avoidance and path planning , and improves the robot ’s obstacle avoidance ability and path planning efficiency of dynamic and static obstacles．