A Path-Planning Method for Wall Surface Inspection Robot Based on Improved Genetic Algorithm
A wall surface inspection robot mainly relies on the inertial measurement unit and global positioning system (GPS) signal during intelligent wall surface inspection. The robot may encounter incorrect positioning under a GPS-denied environment, easily triggering safety accidents. In order to obtain a...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-04-01
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| Series: | Electronics |
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| Online Access: | https://www.mdpi.com/2079-9292/11/8/1192 |
| _version_ | 1797446727640285184 |
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| author | Yong Tao Yufang Wen He Gao Tianmiao Wang Jiahao Wan Jiangbo Lan |
| author_facet | Yong Tao Yufang Wen He Gao Tianmiao Wang Jiahao Wan Jiangbo Lan |
| author_sort | Yong Tao |
| collection | DOAJ |
| description | A wall surface inspection robot mainly relies on the inertial measurement unit and global positioning system (GPS) signal during intelligent wall surface inspection. The robot may encounter incorrect positioning under a GPS-denied environment, easily triggering safety accidents. In order to obtain a path suitable for the safe work of the robot wall surface inspection robot in a GPS-denied environment, a global path-planning method for wall surface inspection robots was proposed based on the improved generic algorithm (GA). The influencing factor for GPS signal strength was introduced into the heuristic function in path planning for GA to address the aforementioned problem. Using the PSO algorithm, GA was initialized and the influencing term of GPS signal was introduced into the fitness degree function so as to achieve point-to-point path planning of vertical wall surface inspection robot. Path angle and probability of intersection and variation was taken into account for better path planning capability. Finally, the simulation experiments were performed. The generated path using the improved GA was found to avoid the blind area of the GPS signal. The algorithm proposed has a good performance with average convergence times of 35.9 times and an angle of 55.88° in simple environment. Contrary to the traditional GA and PSO algorithm, the method showed advantages in terms of the convergence rate, path quality, path angle change, and algorithm stability. The research presented in this article is meaningful and relatively sufficient. The simulation test is also quite convincing. The proposed method was proved to be effective in global path planning for a wall surface inspection robot. |
| first_indexed | 2024-03-09T13:45:42Z |
| format | Article |
| id | doaj.art-e9cd8e36a35844f3b968cf6037cc0a91 |
| institution | Directory Open Access Journal |
| issn | 2079-9292 |
| language | English |
| last_indexed | 2024-03-09T13:45:42Z |
| publishDate | 2022-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Electronics |
| spelling | doaj.art-e9cd8e36a35844f3b968cf6037cc0a912023-11-30T21:01:38ZengMDPI AGElectronics2079-92922022-04-01118119210.3390/electronics11081192A Path-Planning Method for Wall Surface Inspection Robot Based on Improved Genetic AlgorithmYong Tao0Yufang Wen1He Gao2Tianmiao Wang3Jiahao Wan4Jiangbo Lan5School of Mechanical Engineering & Automation, Beihang University, Beijing 100191, ChinaSchool of Mechanical Engineering & Automation, Beihang University, Beijing 100191, ChinaResearch Institute of Aero-Engine, Beihang University, Beijing 102206, ChinaSchool of Mechanical Engineering & Automation, Beihang University, Beijing 100191, ChinaLarge Aircraft Advanced Training Center, Beihang University, Beijing 100191, ChinaLarge Aircraft Advanced Training Center, Beihang University, Beijing 100191, ChinaA wall surface inspection robot mainly relies on the inertial measurement unit and global positioning system (GPS) signal during intelligent wall surface inspection. The robot may encounter incorrect positioning under a GPS-denied environment, easily triggering safety accidents. In order to obtain a path suitable for the safe work of the robot wall surface inspection robot in a GPS-denied environment, a global path-planning method for wall surface inspection robots was proposed based on the improved generic algorithm (GA). The influencing factor for GPS signal strength was introduced into the heuristic function in path planning for GA to address the aforementioned problem. Using the PSO algorithm, GA was initialized and the influencing term of GPS signal was introduced into the fitness degree function so as to achieve point-to-point path planning of vertical wall surface inspection robot. Path angle and probability of intersection and variation was taken into account for better path planning capability. Finally, the simulation experiments were performed. The generated path using the improved GA was found to avoid the blind area of the GPS signal. The algorithm proposed has a good performance with average convergence times of 35.9 times and an angle of 55.88° in simple environment. Contrary to the traditional GA and PSO algorithm, the method showed advantages in terms of the convergence rate, path quality, path angle change, and algorithm stability. The research presented in this article is meaningful and relatively sufficient. The simulation test is also quite convincing. The proposed method was proved to be effective in global path planning for a wall surface inspection robot.https://www.mdpi.com/2079-9292/11/8/1192wall surface inspection robotGPS-denied environmentpath planningGAPSO |
| spellingShingle | Yong Tao Yufang Wen He Gao Tianmiao Wang Jiahao Wan Jiangbo Lan A Path-Planning Method for Wall Surface Inspection Robot Based on Improved Genetic Algorithm Electronics wall surface inspection robot GPS-denied environment path planning GA PSO |
| title | A Path-Planning Method for Wall Surface Inspection Robot Based on Improved Genetic Algorithm |
| title_full | A Path-Planning Method for Wall Surface Inspection Robot Based on Improved Genetic Algorithm |
| title_fullStr | A Path-Planning Method for Wall Surface Inspection Robot Based on Improved Genetic Algorithm |
| title_full_unstemmed | A Path-Planning Method for Wall Surface Inspection Robot Based on Improved Genetic Algorithm |
| title_short | A Path-Planning Method for Wall Surface Inspection Robot Based on Improved Genetic Algorithm |
| title_sort | path planning method for wall surface inspection robot based on improved genetic algorithm |
| topic | wall surface inspection robot GPS-denied environment path planning GA PSO |
| url | https://www.mdpi.com/2079-9292/11/8/1192 |
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