摘要
Abstract
The inspection method relying on intelligent robot in substations may have problems such as limited monitoring range,redundant inspection paths,and lack of targeted monitoring,resulting in insufficient inspec-tion efficiency and safety.In view of this,this article proposes a unmanned aerial vehicle(UAV)-robot joint in-spection path planning method in substations based on the improved A*algorithm,which can improve the intel-ligence level of path planning for UAV-robot system in substations through intelligent demand driven methods,improve inspection efficiency,and reduce the risk of power accidents.Firstly,by identifying the intelligent re-quirements in the substation environment,we conduct hierarchically division of substation equipment,refin in-spection tasks,construct a substation emergency task module library,and establish an intelligent requirement association library for inspection operations and execution subjects.Next,an path planning strategy for UAV-robot using the improved A*algorithm is proposed.By adopting an eight-neighborhood search and introducing a heuristic function weight dynamic adjustment mechanism,the A*algorithm is improved to enhance the effi-ciency and practicality of path planning.Finally,simulation experiment is carried ont by using the MATLAB.The simulation results show that this method can realize the reasonable scheduling of UAVs and robots.Com-pared with traditional full area substation detection strategies,this method can shorten the path length by about 40％,reduce inspection time by about 45％,and carefully consider practical engineering constraints such as electromagnetic compatibility,safe obstacle avoidance,and collaborative charging of UAVs,ensuring the ro-bustness and practicality of the path planning method in real substation environments.关键词
变电站巡检/无人机-机器人/路径规划/改进A*算法/层次化划分Key words
substation inspection/unmanned aerial vehicle-robot/path planning/improved A* algorithm/hierar-chical division分类
信息技术与安全科学
