摘要
变电站巡检环境非常复杂,使得巡检机器人很难以最快的速度找到最优避障路径。为解决该问题,设计了变电站轻量化四足巡检机器人最优避障路径生成系统。搭建机器人最优避障路径生成系统架构和逻辑框架。系统硬件以MSP430为核心,主要由主控制模块、传感器模块、运动控制模块、计算机远程管理模块和无线通信模块组成。在系统硬件支持下,机器人操作系统(ROS)操作框架的各模块间通过节点耦合连接,以保证路径规划和最优路径生成效率与质量。在ROS操作框架基础上,A~*算法通过遍历周边环境地图所有节点,选择与生成变电站轻量化四足巡检机器人最优避障路径。试验结果表明,所提系统生成的避障路径为最优避障路径,并且偏航角较小、生成耗时较短。该系统可为机器人避障规划领域研究提供参考。
The substation inspection environment is very complex, making it difficult for inspection robots to find the optimal obstacle-avoidance path at the fastest speed.To solve this problem, an optimal obstacle-avoidance path generation system is designed for a lightweight quadruped inspection robot in substation.The robot optimal obstacle-avoidance path generation system architecture and logical framework are built.The system hardware takes MSP430 as the core, which is mainly composed of the main control module, sensor module, motion control module, computer remote management module and wireless communication module.Supported by the system hardware, each module of the robot operating system (ROS) operating framework are connected through node coupling to ensure the efficiency and quality of path planning and optimal path generation.Based on the ROS operating framework, the A * algorithm selects and generates the optimal obstacle-avoidance path for the lightweight quadruped inspection robot of the substation by traversing all the nodes of the surrounding environment map.The experimental results show that the obstacl-avoidance path generated by the proposed system is the optimal obstacle-avoidance path and the yaw angle is smaller and generation time is shorter. The system provides reference for the research in the field of robot obstacle-avoidance planning.
作者
李俊华
邸龙
黄德华
刘永浩
张良
LI Junhua;DI Long;HUANG Dehua;LIU Yonghao;ZHANG Liang(Zhaoqing Power Supply Bureau,Guangdong Power Grid Co.,Ltd.,Zhaoqing 526060,China)
出处
《自动化仪表》
CAS
2024年第7期94-98,共5页
Process Automation Instrumentation
基金
广东电网有限责任公司基金资助项目(031200WS22200004)。
关键词
变电站
四足巡检机器人
轻量化
最优避障
路径规划
MSP430
机器人操作系统
Substation
Quadruped inspection robot
Lightweight
Optimal obstacle-avoidance
Path planning
MSP430
Robot operating system(ROS)
