摘要
目前研究的电力巡检机器人避障路径规划方法存在避障能力较差、巡检效果不佳的问题,因此提出基于机器学习的电力巡检机器人避障路径的规划方法。利用运动关系以及机器人运动势场定理完成电力巡检机器人路线三维模型的建立,确定机器人在获取行动任务时路线的方向,通过模糊支持向量算法对初始化的行走路径进行避障路径规划,使巡检机器人具有智能化的特点。实验结果表明,基于机器学习的电力巡检机器人避障路径规划可以使巡检机器人避让较多的障碍物,并且对于复杂障碍物的避障能力保持稳定,巡检效果较好。
At present,the obstacle avoidance path planning method of electric inspection robot has the problems of poor obstacle avoidance ability and poor inspection effect.Therefore,the obstacle avoidance path planning method of electric inspection robot based on machine learning is proposed.The 3D model of the electric inspection robot route is established by using the motion relationship and the theorem of robot motion potential field.The direction of the route is determined when the robot obtains the action task.The fuzzy support vector algorithm is used to plan the obstacle avoidance path of the initial walking path,which makes the inspection machine intelligent.The experimental results show that the obstacle avoidance path planning of electric inspection robot based on machine learning can make the inspection robot avoid more obstacles,and the obstacle avoidance ability of complex obstacles is stable,and the inspection effect is good.
作者
郭瑜
倪旭明
GUO Yu;NI Xuming(State Grid Jinhua Power Supply Commpany,Jinhua 321001,China)
出处
《电子设计工程》
2022年第8期91-94,99,共5页
Electronic Design Engineering
关键词
机器学习
电力巡检机器人
避障行为
路径规划分析
machine learning
electric power inspection robot
obstacle avoidance behavior
path planning analysis
