Remote Wind Farm Path Planning for Patrol Robot Based on the Hybrid Optimization Algorithm

摘要

Globally, wind power plays a leading role in the renewable energy industry. In order to ensure the normal operation of a wind farm, the staff will regularly check the equipment of the wind farm. However, manual inspection has some disadvantages, such as heavy workload, low efficiency and easy misjudgment. In order to realize automation, intelligence and high efficiency of inspection work, inspection robots are introduced into wind farms to replace manual inspections. Path planning is the prerequisite for an intelligent inspection robot to complete inspection tasks. In order to ensure that the robot can take the shortest path in the inspection process and avoid the detected obstacles at the same time, a new path-planning algorithm is proposed. The path-planning algorithm is based on the chaotic neural network and genetic algorithm. First, the chaotic neural network is used for the first step of path planning. The planning results are encoded into chromosomes to replace the individuals with the worst fitness in the genetic algorithm population. Then, according to the principle of survival of the fittest, the population is selected, hybridized, varied and guided to cyclic evolution to obtain the new path. The shortest path obtained by the algorithm can be used for the robot inspection of the wind farms in remote areas. The results show that the proposed new algorithm can generate a shorter inspection path than other algorithms.