工程设计学报2018，Vol.25Issue(3)：253-261,9.DOI:10.3785/j.issn.1006-754X.2018.03.002
储罐探伤爬壁机器人全遍历路径规划方法
Complete coverage path planning method for oil tank inspection wall climbing robot
摘要
Abstract
The oil tank inspection wall climbing robot is required to traverse all the barrier free ar-eas on the outer wall of the tank efficiently in complete coverage path planning .Combining with adjacency matrix and path selection function,a grid decomposition algorithm was proposed for path planning of wall climbing robot .Firstly,the working environment of the wall climbing robot was simplified into two-dimensional planes,and the traversed basic path of robot was determined by analyzing the missed area .Secondly,the grid environment was established and each grid was given a xivalue to represent its state .Thirdly,the work environment was divided into several sub-regions by rectangle decomposition method .The connection order of each sub-region was de-termined by the depth-first search algorithm and the adjacency matrix .Finally,in order to deter-mine whether or not the robot was stuck into the dead zone during the traversal and handover of the sub-region,a path selection function fiwas proposed by combining with the xivalue which could guide the robot to escape from the dead zone quickly .The proposed method was simulated in the virtual environment .The simulation results showed that this method could not only guide the wall climbing robot to achieve complete coverage of the working area with a high coverage rate and a low repetition rate,but also quickly escape from the dead zone .The realization of com- plete coverage path planning can extend the application of wall climbing robot in detecting tank walls .关键词
爬壁机器人/全遍历路径规划/深度优先搜索算法/邻接矩阵/方向函数/路径选择函数Key words
wall climbing robot/complete coverage path planning/depth first search algorithm/adjacency matrix/direction function/path selection function分类
信息技术与安全科学引用本文复制引用
唐东林,袁波,胡琳,李茂扬,魏子兵..储罐探伤爬壁机器人全遍历路径规划方法[J].工程设计学报,2018,25(3):253-261,9.基金项目
四川省科技支撑计划资助项目(2017FZ0033) （2017FZ0033）
