Research on dynamic path planning method of electric inspection robot based on fuzzy neural network

Abstract

In order to better address the issue of the coverage rate about power inspection robot to the working area, solving the difficulties in the navigation modeling and path planning of the intelligent control program is the focus of this paper. This paper first analyzes a multi-information fusion SLAM robot positioning and navigation algorithm, then uses the Kalman filter technology to locate through Voronoi mapping. Second, this paper proposes a five-layer neural network approach to how robots can plan and control routes in high-density scenarios. Third, the robot takes the surrounding obstacle distance, the target angle and the target distance as input parameters then the output parameters of the fuzzy neural network are the wheel speed and the steering angle. The inspection robot uses the sensors on the body to detect the surrounding environment’s parameter information. The dynamic path planning algorithm changes the path accordingly, prevents collision, and finally reaches the preset target. Finally, the paper collects the features obtained by Voronoi mapping in a large-scale simulation environment. The fuzzy neural network algorithm for detecting robots is validated in a complex environment, proving the effectiveness and accuracy of the algorithm.

Keywords

• Fuzzy neural network
• Laser navigation
• Electric inspection robot
• Path planning