Proceedings of the 2nd International Conference on Computer Engineering, Information Science & Application Technology (ICCIA 2017)

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

Authors
Yan Deng, Hongyu Hu, Xiaolu Tian, Jiake Liu, Mingyang Liu, Yafei Wang
Corresponding Author
Yan Deng
Available Online July 2016.
DOI
https://doi.org/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.
Open Access
This is an open access article distributed under the CC BY-NC license.

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Proceedings
2nd International Conference on Computer Engineering, Information Science & Application Technology (ICCIA 2017)
Part of series
Advances in Computer Science Research
Publication Date
July 2016
ISBN
978-94-6252-361-6
ISSN
2352-538X
DOI
https://doi.org/10.2991/iccia-17.2017.10How to use a DOI?
Open Access
This is an open access article distributed under the CC BY-NC license.

Cite this article

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  - 2nd International Conference on Computer Engineering, Information Science & Application Technology (ICCIA 2017)
PB  - Atlantis Press
SN  - 2352-538X
UR  - https://doi.org/10.2991/iccia-17.2017.10
DO  - https://doi.org/10.2991/iccia-17.2017.10
ID  - Deng2016/07
ER  -