Research on formation control algorithm of multiple inspection robots in substation

Fei Li; Si Ye; Guangxin Han

doi:10.1117/12.3011187

1 December 2023 Research on formation control algorithm of multiple inspection robots in substation

Fei Li, Si Ye, Guangxin Han

Proceedings Volume 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023); 129401P (2023) https://doi.org/10.1117/12.3011187
Event: Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 2023, Sipsongpanna, China

Abstract

With the development of robot technology and the advancement of intelligent processes, inspection robots are adopted for substation inspection instead of manual inspection, which reduces the workload of substation staff and improves the efficiency and quality of the inspection. The substation covers a large area and has a wide distribution of equipment. It is difficult for a single inspection robot to complete all the inspection work. At this time, multiple inspection robots are needed to cooperate by keeping a fixed formation. Aiming at the formation obstacle avoidance task of a multi-inspection robot system, this paper analyzes the force of the multi-inspection robot system by establishing a virtual potential field and designs the formation control algorithm for the robot system. Then a simulation system of the multi-inspection robot is designed based on SimMechanics and Simulink. Finally, the effectiveness of the proposed formation control algorithm is verified. The results show that the formation control algorithm designed in this paper can ensure that the robot system avoids obstacles to complete the target formation.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Fei Li, Si Ye, and Guangxin Han "Research on formation control algorithm of multiple inspection robots in substation", Proc. SPIE 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 129401P (1 December 2023); https://doi.org/10.1117/12.3011187

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KEYWORDS

Robots

Inspection

Robotic systems

Control systems

Angular velocity

Simulink

Inspection equipment

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