Inspection robot dynamic path planning method, device and equipment based on particle filter algorithm

Abstract

The invention discloses an inspection robot dynamic path planning method, device and equipment based on a particle filter algorithm, and a computer readable storage medium. The particle filter algorithm is adopted to carry out environment situation analysis while the inspection robot dynamic path planning operation is carried out, and therefore, the planning process has certain predictability for dynamic sudden obstacles; every time the inspection robot executes a planned step length, the states of the obstacle and the inspection robot are predicted and updated by adopting a particle filtering algorithm on the basis of current environment information obtained by a sensor, and according to the updated environment information, the particle filtering algorithm is iteratively executed for preset times in each path rolling window to optimize a local path, and the convergence process of the optimal solution is accelerated while the estimation accuracy of the algorithm is improved; and a particle filter algorithm and a rolling optimization strategy are combined, and a rolling window is adopted to locally plan paths in a segmented manner, so that the computational complexity of global path planning is reduced while the predictability of a planning process is ensured.

Description

technical field [0001] The present invention relates to the technical field of robot path planning, in particular to a particle filter algorithm-based dynamic path planning method, device, equipment and computer-readable storage medium for an inspection robot. Background technique [0002] In large-scale power monitoring systems, intelligent inspection robots gradually replace manual inspections to complete the inspection tasks of outdoor high-voltage equipment due to their flexible control and operation methods and the advantages of not being affected by weather factors. For inspection robots with limited airborne energy, it is necessary to quickly and accurately select a reasonable path when performing tasks, and it is also required that when dynamic obstacles appear and detection tasks change suddenly, real-time and accurate , Quickly find an optimal path and reach the task point for monitoring. Therefore, dynamic path planning is a key problem that intelligent inspectio...

AI Technical Summary

Problems solved by technology

[0005] The object of the present invention is to provide a dynamic path planning method, device, equipment and computer-readable storage medium for an inspection robot based on a particle filter algorithm, so as to solve the dynamic path planning algorithm provided in the prior art and aim at the inspection robot in A variety of dynamically changing task scenarios faced in the execution of tasks in the power monitoring system have their own limitations, and there are problems of poor real-time performance and prone to local optimal solutions

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