变电站机器人巡检路径点筛选轨迹优化方法

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关键词：改进 A* ；人工势场算法；变电站机器人；巡检路径；点筛选轨迹；巡检环境模型；代价函数中图分类号：TM726.4 文献标志码：B 文章编号：1671-5276（2025）06-0223-05

Abstract：Withregardtothedificultyinguaranteengtherationalityofsubstationrobotinspectiontrajectoryduetothe constraintsofsubstationrobotinspectionenvironmentandrobotoperationconstraints，thetrajectoryoptimizationmethodof substation robot inspection path point screening based on improved A and artificial potential field algorithm is proposed.On the basisofconstructionof therobot inspectionenvironment modelof thesubstation，therobotinspection trajectorypathpointcost functionis constructed with the help of improving A algorithm.Based on the introduction ofthe artificial potential field algorithm，theoptimizationofthepathpointofthesubstationrobotinspectionisrealized.Thetestresultsshowthatonthe premiseofcompletingthefullcoverageinspection，thecorrespondingtimeoverhead，thtotallengthoftheoverlapingpathand the collision number are all lower than that of the control group，with good application effect.

Keywords：improveA*；artificialpotentialfeldalgorithm；substationrobot；inspectionpath；pointscreeningtrack；nspection environment model；cost function

0 引言

随着电力系统的规模不断扩大，变电站的数量也在不断增加，这给电力系统的维护和管理带来了很大的挑战[。（剩余6578字）