Robot navigation path planning in power plant based on improved wolf pack algorithm

Abstract

Substation is an important part of power system, and regular inspection is very important to ensure the safe operation of substation. Patrol robot can patrol power equipment in few or unattended substations. In order to obtain the global optimal path of the robot, this paper proposes a navigation path planning based on improved wolf pack algorithm (IWPA). Firstly, the path optimization in discrete domain is studied by introducing position-order coding in initialization stage. Secondly, improve the moving step of the attack behavior and improve the efficiency of the running behavior. Finally, the updating rules of IWPA increase the diversity of wolves to enhance the global optimization ability of the algorithm. Finally, both IWPA and Wolf Pack Algorithm (WPA) are simulated, and the results show that the improved algorithm is more effective in solving the navigation path planning problem of inspection robot.