马锋,高明亮,许崇耀,张慈杭,于萌,高际惟.基于仿真优化智能变电站巡检机器人路径研究[J].电测与仪表,2023,60(9):14-20. Ma Feng,Gao Mingliang,Xu Chongyao,Zhang Cihang,Yu Meng,Gao Jiwei.Research on path optimization of intelligent substation inspection robot based on simulation[J].Electrical Measurement & Instrumentation,2023,60(9):14-20.
基于仿真优化智能变电站巡检机器人路径研究
Research on path optimization of intelligent substation inspection robot based on simulation
Intelligent substation inspection robot is of great significance for ensuring the safe, stable and reliable operation of power system, as well as improving the inspection quality and energy efficiency. In practice, the path planning algorithms of inspection robot are usually based on static map, which cannot effectively deal with the unknown substation information and the random factors of system. This paper proposes a simulation-based optimization method to improve the path strategy of inspection robot. First, through the real-time observation in patrol, random sampling method is used to generate running samples for simulation optimization. Then, based on the given planning strategy, the simulation samples are used to improve the path strategy to ensure the path strategy performance while reducing the computational burden of the robot. The simulation results show that the proposed method can effectively improve the rule-based strategy and greedy strategy in grid environment.
