Autonomous obstacle crossing method of substation inspection robot based on locust optimization algorithm

Xuefeng Ning; Zehuai Liu; Yuanjia Li

doi:10.1117/12.2685331

21 July 2023 Autonomous obstacle crossing method of substation inspection robot based on locust optimization algorithm

Xuefeng Ning, Zehuai Liu, Yuanjia Li

Proceedings Volume 12717, 3rd International Conference on Artificial Intelligence, Automation, and High-Performance Computing (AIAHPC 2023); 1271702 (2023) https://doi.org/10.1117/12.2685331
Event: 3rd International Conference on Artificial Intelligence, Automation, and High-Performance Computing (AIAHPC 2023), 2023, Wuhan, China

Abstract

Since the attitude angle between the gripper and the roller of the robot arm is not adjusted during the autonomous obstacle surmounting process of the substation inspection robot, and the obstacle surmounting route found is not optimal, the path of the substation inspection robot for autonomous obstacle surmounting is not the optimal result. Therefore, the autonomous obstacle surmounting method of the substation inspection robot based on locust optimization algorithm is proposed. After calculating the vertical distance between the overhead line and the working ground and adjusting the attitude angle between the gripper and the roller of the manipulator, a two-dimensional Gaussian scale space is constructed to extract the key feature points of the obstacle image in the space. According to the feature extraction results, combined with the locust optimization algorithm, the autonomous obstacle path of the substation inspection robot is planned to obtain the most superior obstacle path. In the experiment, the obstacle surmounting effect of the proposed method is verified. The experimental results show that the error rate of the optimal solution is low, and the path planning performance is good when the proposed method is used for robot autonomous obstacle crossing control.

Citation Download Citation

Xuefeng Ning, Zehuai Liu, and Yuanjia Li "Autonomous obstacle crossing method of substation inspection robot based on locust optimization algorithm", Proc. SPIE 12717, 3rd International Conference on Artificial Intelligence, Automation, and High-Performance Computing (AIAHPC 2023), 1271702 (21 July 2023); https://doi.org/10.1117/12.2685331

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KEYWORDS

Inspection

Mathematical optimization

Feature extraction

Error analysis

Matrices

Robotics

Detection and tracking algorithms

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