| 基于改进Prim算法的变电站巡检机器人路径规划 |
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| 引用本文： | 任仕玖,宋晖,蒋勋.基于改进Prim算法的变电站巡检机器人路径规划[J].西南科技大学学报,2011,26(1):61-63. |
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| 作者姓名： | 任仕玖 宋晖 蒋勋 |
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| 作者单位： | 1. 西南科技大学计算机学院,四川绵阳,621010
2. 中国石油西南油气田分公司,四川成都,610051 |
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| 基金项目： | 科技部中小企业创新基金 |
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| 摘 要： | 变电站巡检机器人主要代替人进行变电站设备巡检,全面实现变电站无人值守.通过GPS定位技术获取机器人及设备位置信息,并将其抽象成网状存储结构,利用改进Prim算法生成最小生成树,同时,设计遍历算法遍历最小生成树,使路径回溯花费最小,完成机器人巡检路径规划.仿真实验结果表明,算法具有数据结构简单、执行效率高的特点.
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| 关 键 词： | 巡检机器人 改进Prim算法 最小生成树 路径规划 变电站 |
Path Planning of Robot for Substation Inspection Based on the Improved Prim Algorithm |
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| REN Shi-jiu,SONG Hui,JIANG Xun.Path Planning of Robot for Substation Inspection Based on the Improved Prim Algorithm[J].Journal of Southwest University of Science and Technology,2011,26(1):61-63. |
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| Authors: | REN Shi-jiu SONG Hui JIANG Xun |
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| Institution: | REN Shi-jiu1,SONG Hui1,JIANG Xun2 (1.School of Computer Science and Technology,Southwest University of Science and Technology,Mianyang 621010,Sichuan,China,2.Petrochina Southwest Oil and Gas Field Branch,Chengdu 610051,China) |
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| Abstract: | The inspection robot instead of person inspects equipment in substraction fully realized automation of substraction detection.We used GPS positioning technology to get location information of equipments and robot,it was abstracted to form a network.This paper took into account the efficiency of algorithms and the complexity of data structure,on the one hand used the neighbor table as network storage structure and used improved prim algorithm to generate minimum spanning tree;on the other hand,designed trave... |
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| Keywords: | GPS Prim Algorithm Minimum Spanning Tree Path Planning |
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