Research on behaviour planning for power substation inspection robot based on fuzzy cognitive map

摘要

Abstract A fuzzy cognitive map based behavior planning method for mobile robot is proposed in this paper. Aiming at the intelligentialize advanced application problems of power substation equipment inspection robot, a logical structure of inspection tasks planning based on hierarchical hybrid complex system is presented, and the operating principle of task decomposition and task planning are given in detail. The dependent events in inspecting tasks are considered as concept nodes to present the connection weights between nodes and establish the fuzzy cognitive map model of task and behavior planning, so as to realize task decomposition and generate the action logic sequences. Meanwhile, the action sequences can be adjusted in real time with the sensor information. The proposed method is simple without introducing complicated calculations and much training. Simulation results verify the feasibility and effectiveness.