Research on the Path Planning in Desulfurization Plant

Abstract

With the gradual improvement of urban construction, hydrogen sulfide detection in desulfurization plant becomes increasingly intelligent. To solve the problem of the detecting robot automatic charging path planning in desulfurization plant, this paper presents an improved global path planning algorithm based on visibility graph algorithm, but overcomes the low efficiency and poor flexibility of the traditional visibility graph algorithms. In the process of modeling, this paper regards a variety of obstacles in the desulfurization plant environment as an approximate rectangle combination, draws a real-time obstacle map, and then simulates in the real-time obstacle map to verify the effectiveness and feasibility of the improved global path algorithm. The appearance of the detection robot instead of human work improves the security of job, which pla ys an invaluable role in the intelligent community. How the detection robot finds an optimal c harging path in desulfurization plants is the most fundamental problem to be solved. The detection robot automatic charging path planning in the desulfurization plant is divided into two categories: The first one is global path planning with the known global arrangement, the second one is local path planning with the unknown global arrangement. Global path planning algorithm method comprises of visibility graph algorithm, free space algorithm and grid algorithm. Local path planning algorithm c omprises of the ant colony algorithm, genetic algorithms, artificial potential field algorithm and neural network algorithm. I n this paper, detection robot is for the indoor environment, and the indoor obstacle arrangement is known, so researchers use the global path planning method. The free space algorithm's obstacle map can be adjusted by the changes in real-time, but the computation complexity is proportional to the obstacle. It requires a large memory capacity, and has a low computing speed. Grid algorithm's modeling is simple, but it has low spatial resolution and low real-time adjustment. Therefore, re searchers propose an improved algorithm based on the traditional visibility graph algorithm. The va rious obstacles in desulfurization plant can be replaced by the approximate rectangular assembly, link visibility point, and then the shortest path might be chosen. This improved algorithm can simplify the complex obstacle arrangement to rectangle assembly, improve the efficiency, and e nhance the real-time performance.