Collaborative Path Planning Arithmetic for Multi Robot System of Power Intelligent Inspection Based on Particle Swarm Optimization

摘要

As an artificial system, multi robot system is actually a simulation of the group system in nature and human society. Multi robot path planning is to find a collision free approximate optimal path for each robot in the same workspace, and ensure that each robot can reach the target position safely at the minimum cost. In this article, a collaborative path planning arithmetic based on POS (Particle swarm optimization) is proposed for power intelligent inspection multi robot system. The working environment is scanned by laser sensors, and then the multi robot path planning problem is decomposed into several single robot path planning problems by using PSO arithmetic. Each sub population optimizes one robot individually. Select representative individuals from each sub population to coordinate information interaction, and then select elite individuals as the path of multi robot system optimization. Finally, the simulation test and analysis are carried out. The simulation results show that the proposed arithmetic has a certain accuracy, which is 8.96% higher than the traditional arithmetic. Intelligent patrol multi robot system plays an increasingly important role in the operation and maintenance of primary and secondary equipment and patrol inspection of substation due to its diversified detection means, flexible, objective and intelligent detection. With the help of patrol inspection multi robots, the operation and maintenance cost of substation is further reduced and the automation management level of power grid equipment is enhanced.