基于优化遗传算法的变电站巡检机器人路径规划方法研究

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中图分类号：TN820.4-34；TP242.2 文献标识码：A 文章编号：1004-373X（2026）06-0168-06

Research on substation inspection robot path planning based on optimized geneticalgorithm

QIAO Daoji1，2.3， HANHuiyan1，2.3， HANXie1，2.3，CAO Yaming1，2.3 （1.ShanxiProvincialKeyLaboratoryofMachineVisionand Virtual Reality，Taiyuan O3oo51，China; 2.School ofComputerScienceand Technology，North UniversityofChina，Taiyuan O3Oo51，China; 3.ShanxiProvine'saiVisualfoatiorocssnndIntellgntRobotEneingesearcCnteanOa）

Abstract：An in-depth studywasconductedonthedeficienciesand thecauses of theexisting geneticalgorithms inpath planing，and provides a detailed theoretical analysis.Atthesame time，thecomparative study wasconductedonthe existing improvedgeneticalgoriths，andtheproblemsintheiroptimizationprocessweresummarized，suchasslowconvergencespeed， easytrapping inlocaloptima，andweakadaptiveability.Thesubstationistakenastheresearchobject，andthepathof spection robotsfromthestartingpointtotheendpointoftheinspectionisresearched.Theinspectionsceneisanalyzed，theispection scene modelisestablished，andtheinspectionschemeisoptimized.Theimprovementplanisproposedtosolveproblemssuchas pathredundancyandtheriskoflocal extrema.MatlabandROSsystemsareusedformodelingandtestingtoensurethefeasibility of the proposedsolution.Byestablishingasenmodel，theexecutioneficiencyoftheplanalgorithmisanalyzd，andtetarget pointsoftheshortestandsmoothestrouteintheplaneisdetectedanddesigned.Thesimulationexperimentsofsubstationinspectionrobotpathplanningbasedonoptimizedgeneticalgorithmisconductedacrossmulti-complexscenarios.Theexperimental resultsdemonstratethatthismethodcanrapidlyandefectivelyresolvetheshortestpath，andhasstrongerpracticalityand stability.

KeyWords：substation;inspection robot; path planning; improved genetic algorithm; shortest path;grid method

0 引言

随着我国经济的快速发展，社会用电需求迅速增长，变电站的数量也逐渐增加。（剩余6052字）