Path planning and positioning technology of intelligent inspection robot in cable tunnel

Shuangde Huang, Zigeng Zhou, Baoyu Xu, Shengwei Wang, Tao Wang


Intelligent inspection robot is efficient for cable tunnel inspection. In this study, the path planning and positioning technology of inspection robot was studied. A new path planning technology based on Floyd algorithm and simulated annealing was proposed. The local shortest path was searched using Floyd algorithm, and then global shortest path was searched using simulated annealing algorithm. Radio frequency identification devices (RFID) combined with magnetic track guidance was used as positioning technology. Test of the positioning, straight driving and curve driving of intelligent inspection robot showed that the average error of the positioning technology, straight driving and curve driving was 7.1 cm, 4.2 cm and 5.6 cm respectively. It is concluded that the path planning and positioning technology proposed in this study has smaller errors, and will not affect the completion of inspection tasks. It provides a theoretical support for the application of intelligent inspection robot in cable tunnel.

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