现代电子技术2026，Vol.49Issue(6)：168-173,6.DOI:10.16652/j.issn.1004-373x.2026.06.025
基于优化遗传算法的变电站巡检机器人路径规划方法研究
Research on substation inspection robot path planning based on optimized genetic algorithm
摘要
Abstract
An in-depth study was conducted on the deficiencies and the causes of the existing genetic algorithms in path planning,and provides a detailed theoretical analysis.At the same time,the comparative study was conducted on the existing improved genetic algorithms,and the problems in their optimization process were summarized,such as slow convergence speed,easy trapping in local optima,and weak adaptive ability.The substation is taken as the research object,and the path of inspection robots from the starting point to the end point of the inspection is researched.The inspection scene is analyzed,the inspection scene model is established,and the inspection scheme is optimized.The improvement plan is proposed to solve problems such as path redundancy and the risk of local extrema.Matlab and ROS systems are used for modeling and testing to ensure the feasibility of the proposed solution.By establishing a scene model,the execution efficiency of the plan algorithm is analyzed,and the target points of the shortest and smoothest route in the plane is detected and designed.The simulation experiments of substation inspec-tion robot path planning based on optimized genetic algorithm is conducted across multi-complex scenarios.The experimental results demonstrate that this method can rapidly and effectively resolve the shortest path,and has stronger practicality and stability.关键词
变电站/巡检机器人/路径规划/改进遗传算法/最短路径/栅格法Key words
substation/inspection robot/path planning/improved genetic algorithm/shortest path/grid method分类
信息技术与安全科学引用本文复制引用
乔道迹,韩慧妍,韩燮,曹亚明..基于优化遗传算法的变电站巡检机器人路径规划方法研究[J].现代电子技术,2026,49(6):168-173,6.基金项目
山西省自然科学基金项目(202303021211153) （202303021211153）
山西省科技重大专项计划"揭榜挂帅"项目(202201150401021) （202201150401021）
机器视觉与虚拟现实重点实验室研究基金资助项目(447-110103) （447-110103）
