Affiliations: [a]
School of Building Services Science and Engineering, Xi’an University of Architecture and Technology, Xi’an, China
| [b]
School of Mechanical and Electrical Engineering, Xi’an University of Architecture and Technology, Xi’an, China
Correspondence:
[*]
Corresponding author. Junqi Yu, No. 13, Yanta Road, Beilin District, Xi’an, Shaanxi Province, Xi’an University of Architecture and Technology, Xi’an, China. E-mail: maxiaozheng2022@163.com.
Abstract: Global path planning is one of the key technologies for airport energy station inspection robots to achieve autonomous navigation. Due to the complexity of airport energy station buildings with numerous mechanical and electrical equipment and narrow areas, planning an optimal global path remains a challenge. This paper aimed to study global path planning for airport energy station inspection robots using an improved version of the Grey Wolf Optimizer (IGWO) algorithm. Firstly, the initialization process of the Grey Wolf Optimizer algorithm selects several grey wolf individuals closer to the optimal solution as the initial population through the lens imaging reverse learning strategy. The algorithm introduces nonlinear convergence factors in the control parameters, and adds an adaptive adjustment strategy and an elite individual reselection strategy to the location update to improve the search capability and to avoid falling into local optima. Benchmark function and global path planning simulation experiments were carried out in MATLAB to test the proposed algorithm’s effectiveness. The results showed that compared to other swarm intelligent optimization algorithms, the proposed algorithm outperforms them in terms of higher convergence speed and optimization accuracy. Friedman’s test ranked this algorithm first overall. The algorithm outperforms others in terms of average path length, standard deviation of path length, and running time.
Keywords: Airport energy station, inspection robot, global path planning, improved grey wolf optimizer
