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为了提高核电站巡检与应急机器人的工作效率,针对核电站巡检环境与应急处置任务的特殊性,提出了一种适用于核电站巡检与应急机器人的有效局部路径优化方法.首先,在对核电站巡检与应急机器人运动建模的基础上,运用福克-普朗克方程求解伊藤过程得出核电站巡检与应急机器人沿直线和圆弧的动态运动分布函数,并搭建实验平台通过反复实验匹配准确的动态运动分布参数.基于此,提出效率与安全机制,将该机制应用于局部路径的再优化.实验表明,该方法能够在执行核电站巡检与应急任务的过程中对核电站巡检与应急机器人的路径进行再优化,提高任务执行效率.
In order to improve the working efficiency of inspection and emergency robots, aiming at the peculiarity of inspection environment and emergency disposal tasks of nuclear power plants, an effective local path optimization method for inspection and emergency robots of nuclear power plants is proposed.Firstly, Based on the Fokker-Planck equation to solve the Ito process, the dynamic motion distribution function along the straight line and the arc of the inspection and emergency robot of the nuclear power plant was obtained, and the experimental platform was set up to be accurate by repeated experiments Based on which the efficiency and safety mechanism is put forward and the mechanism is applied to the re-optimization of the local path.Experiments show that this method can detect and respond to the inspection and emergency robots of nuclear power plants during the inspection and emergency tasks of nuclear power plants, Optimization of the path to improve the efficiency of mission implementation.