Application of PID Control and Improved Ant Colony Algorithm in Path Planning of Substation Inspection Robot

Abstract

The purpose is to improve the effect of substation inspection and ensure the safety of power consumption in human society. First, this work discusses the current substation inspection-oriented robot path planning situation. Then, the proportional integration differentiation (PID) control algorithm is introduced and optimized. Ant colony algorithm (ACA) is improved. The substation inspection-oriented RPP model is designed based on the PID algorithm and optimized ACA (the proposed model is denoted as the Ant-PID algorithm). Afterward, the Ant-PID algorithm is compared with the PID control algorithm and ACA. The results show that the longest robot path of the proposed Ant-PID algorithm in different data sets is about 28 m. The shortest is about 26 m, and the number of optimal solutions is maintained at about 45–49. By comparison, the average response time of the PID algorithm is about 25 s to 28 s. The shortest response time of ACA is about 24 s, the shortest average response time is about 27 s, and the longest is about 30 s. The average response time of the proposed ant PID model is about 17 s to 20 s. Therefore, the Ant-PID algorithm can improve the substation inspection robots’ path planning effect. The research results provide technical support for improving the effect of substation inspection and contribute to social power transmission.

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