引用本文: | 路永鑫,魏云冰,赵启承,等.基于层次分析法和改进A算法的电力应急机器人路径规划[J].电力系统保护与控制,2021,49(9):82-89.[点击复制] |
LU Yongxin,WEI Yunbing,ZHAO Qicheng,et al.Path planning of a power emergency robot based on an analytic hierarchy process and improved A algorithm[J].Power System Protection and Control,2021,49(9):82-89[点击复制] |
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摘要: |
电力应急机器人能够替代人工进入电力危险场景进行应急抢险作业,机器人路径规划的合理性对其作业的时效性与准确性有很大影响。提出一种层次分析法、改进A算法和梯度下降法相结合的应急机器人路径规划方法。首先通过层次分析法选定复杂场景中的作业目标,然后结合危险源风险曲线函数和机器人防护阈值对A算法的代价函数进行改进,实现注重风险的全局路径规划,再基于梯度下降法完成运动过程中的局部动态路径规划。仿真表明,该方法能够自主选择作业目标,规避作业风险并快速抵达目标,有效提升电力应急作业的时效性和安全性。 |
关键词: 电力应急机器人 路径规划 层次分析法 改进A算法 梯度下降法 |
DOI:DOI: 10.19783/j.cnki.pspc.200840 |
投稿时间:2020-07-15修订日期:2020-09-01 |
基金项目:国家自然科学基金项目(51507157) |
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Path planning of a power emergency robot based on an analytic hierarchy process and improved A algorithm |
LU Yongxin1,WEI Yunbing1,ZHAO Qicheng2,LI Sicheng 1 |
(1. Shanghai University of Engineering Science, Shanghai 201620, China; 2. Power Science Research
Institute of Zhejiang Electric Power Co., Ltd., Hangzhou 310014, China) |
Abstract: |
A power emergency robot can replace the human to enter a dangerous scene to carry out emergency operations. The rationality of robot path planning has great influence on the timeliness and accuracy of its operation. This paper presents a path planning method for an emergency robot which combines an Analytic Hierarchy Process (AHP), improved A algorithm and gradient descent method. First, the operation target in the complex scene is determined by the AHP, and then combined with a hazards risk curve function and robot protective threshold, the cost function of the A algorithm is improved to realize risk-oriented global path planning. Then, based on the gradient descent method, the local dynamic path planning in the process of movement is completed. Simulation results show that this method can choose the operation target independently, avoid operational risk and reach the target quickly, and effectively improve the timeliness and safety of power emergency operation.
This work is supported by the National Natural Science Foundation of China (No. 51507157). |
Key words: power emergency robot path planning analytic hierarchy process improved A* algorithm gradient descent method |