机械与电子2024，Vol.42Issue(1)：53-57,5.
基于DWA算法的配网作业机器人避障路径规划
Obstacle Avoidance Path Planning of Distribution Network Robot Based on DWA Algorithm
摘要
Abstract
There are obstacles of different sizes in the operating environment of the distribution net-work operation robot,and the path redundancy problem will occur during the operation process,which leads to the poor obstacle avoidance ability of the distribution network operation robot.Therefore,a re-search on the obstacle avoidance path planning of the distribution network operation robot based on the DWA algorithm is proposed.According to the robot mass,wheel radius and wheel spacing information,the robot kinematics model is constructed to describe the robot posture at different moments;the working space of the robot is determined,and the local map is constructed by combining the starting point and the target point,and the motion range of the robot is constrained;the velocity vector space of DWA algorithm is designed,and the speed limit region is obtained by multi-sampling robot speed,and several paths to be selected are generated within the region;the DWA evaluation function is composed of three sub-func-tions:direction evaluation,obstacle distance evaluation and velocity evaluation.The sub-functions are nor-malized respectively,and the path with the highest evaluation value is selected as the optimal obstacle a-voidance planning path.The experimental results show that the method can avoid obstacles accurately in both simple and complex operating environments,and the path is the shortest.关键词
DWA算法/配网作业机器人/避障路径规划/评价函数/归一化处理Key words
DWA algorithm/distribution network operation robot/obstacle avoidance path planning/evaluation function/normalization processing分类
信息技术与安全科学引用本文复制引用
吴波,闫红雨,孙霄伟,胡益菲..基于DWA算法的配网作业机器人避障路径规划[J].机械与电子,2024,42(1):53-57,5.基金项目
国家电网有限公司科技项目(5200-201912402A-0-0-00) （5200-201912402A-0-0-00）
