[1]吴波,闫红雨,等.基于 DWA 算法的配网作业机器人避障路径规划[J].机械与电子,2024,42(01):53-57.
　WU Bo,YAN Hongyu,et al.Obstacle Avoidance Path Planning of Distribution Network Robot Based on DWA Algorithm[J].Machinery & Electronics,2024,42(01):53-57.
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基于 DWA 算法的配网作业机器人避障路径规划()

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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

Title:: Obstacle Avoidance Path Planning of Distribution Network Robot Based on DWA Algorithm

作者:: 吴波 ¹; 2 ; 闫红雨 ¹; 2 ; 孙霄伟¹; 2 ; 胡益菲 ³; 1. 北京国电富通科技发展有限责任公司,北京 100070 ;
2. 国网电力科学研究院有限公司,江苏南京 211106 ;
3. 国网天津市电力公司,天津 300010

Author(s):: WU Bo¹; 2 ; YAN Hongyu¹; 2 ; SUN Xiaowei¹; 2 ; HU Yifei³; ( 1.Beijing Guodian Futong Science and Technology Development Co. , Ltd. , Beijing 100070 , China ;
2.State Grid Electric Power Research Institute Co. , Ltd. , Nanjing 211106 , China ;
3.State Grid Tianjin Electric Power Company , Tianjin300010 , China )

Keywords:: DWA algorithm ; distribution network operation robot ; obstacle avoidance path planning ; evaluation function ; normalization processing

摘要:: 配网作业机器人运行环境中存在不同大小的障碍物,作业过程中会出现路径冗余问题,导致配网作业机器人避障能力差,为此提出基于 DWA 算法的配网作业机器人避障路径规划方法。根据机器人质量、车轮半径和轮间距信息构建机器人运动学模型,描述机器人在不同时刻的位姿;确定机器人作业空间,结合起点与目标点位置构建局部地图,约束机器人运动范围;设计 DWA 算法的速度向量空间,多采样机器人速度,获取限速区域,在该区间内生成多条待选择的路径;利用方向评价、障碍物距离评价和速度评价 3 个子函数组成 DWA 评价函数,分别对子函数做归一化处理,选取评价值最高的路径作为最优避障规划路径。实验结果表明,该方法在简单和复杂的作业环境下均能准确避障,且路径最短。

Abstract:: There are obstacles of different sizes in the operating environment of the distribution network operation robot , and the path redundancy problem will occur during the operation process , which leads to the poor obstacle avoidance ability of the distribution network operation robot.Therefore , a research on the obstacle avoidance path planning of the distribution network operation robot based on the DWA algorithm is proposed.According to the robot mass , wheel radius and wheel spacing information , the robot kinematics model is constructed to describe the robot posture at different moments ; the working space of the robot is determined , and the local map is constructed by combining the starting point and the target point , and the motion range of the robot is constrained ; the velocity vector space of DWA algorithm is designed , and the speed limit region is obtained by multi-sampling robot speed , and several paths to be selected are generated within the region ; the DWA evaluation function is composed of three sub-functions : direction evaluation , obstacle distance evaluation and velocity evaluation.The sub-functions are normalized respectively , and the path with the highest evaluation value is selected as the optimal obstacle avoidance planning path.The experimental results show that the method can avoid obstacles accurately in both simple and complex operating environments , and the path is the shortest.

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备注/Memo:: 收稿日期: 2023-08-08
基金项目:国家电网有限公司科技项目( 5200-201912402A-0-0-00 )
作者简介:吴波 ( 1987- ),男,北京人,学士,高级工程师,研究方向为机械及自动化;闫红雨 ( 1990- ),男,河北衡水人,硕士,工程师,研究方向为电网技术;孙霄伟 ( 1981- ),男,北京人,硕士,高级工程师,研究方向为机械工程;胡益菲 ( 1990- ),男,山西太原人,硕士,工程师,研究方向为电网技术。

更新日期/Last Update: 2024-01-16