Research on hybrid navigation algorithm and multi-objective cooperative planning method for electric inspection robot

摘要

For mobile robots working in the power inspection environment, navigation algorithms and collaborative path planning are the keys to understanding and reproducing human power inspection’s thinking mode. Firstly, the paper proposed a hybrid navigation algorithm of reflector and laser based on the generalized inverse of the least squares solution. Secondly, to solve the problem of multi-robot inspection cooperative path planning, the traffic rule reservation table generated a dynamic weighted map representing traffic congestion in power inspection to prevent multi-robot collision. Thirdly, through the distributed control method, the robot used the dynamic weighted map to improve the RRT (Rapidly-Exploring Random Trees)algorithm to achieve the purpose of active cooperative path planning, reducing the trajectory’s critical path points and solving the cooperative congestion. Finally, the positioning and calibration compensation can be carried out through the experiment by the reflector navigation algorithm in a large-scale complex environment. Comparing the path planning methods of the A* algorithm and the dynamic weighted RRT algorithm, the dynamic weighted RRT algorithm reduces the number of extended nodes. It solves the multi-robot planning collision problem while ensuring the search path’s completeness. Meanwhile, the dynamic weighted RRT algorithm can save the running time of the multi-robot system and effectively improve the efficiency of the power inspection system.