关键词: 巡检路径, 新哈密顿回路算法, Dijkstra算法, 遗传算法, 组合算法

Abstract:

In view of the inspection path problem of the inspection robot which is widely used in the substation at present, this paper discusses the inspection path problem, and according to the Hamilton loop method in the discrete mathematics theory and the routine path planning algorithm, this paper studies a kind of robot inspection path problem when the inspection paths of substations are rectangular. According to the different inspection methods, the following suggestions are put forward：global inspection mode, using the new Hamilton algorithm, when the starting point is set, any other point being inspected can be found out the Hamiltonian loop of the inspection path; the inspection mode of key equipment, using the method of Dijkstra algorithm combing with genetic algorithm; fixed-point inspection mode, using Dijkstra algorithm. The simulation results of three inspection methods are given respectively for sufficient power, low power return and continuing inspection after charging, and they are tested in a substation. The results show that the three algorithms are effective and feasible, and the new Hamilton loop algorithm is relatively shorter than the conventional algorithm, and the algorithm is relatively faster.

Key words: route planning, new Hamilton loop algorithm, Dijkstra algorithm, genetic algorithm, combinatorial algorithm