CAJ | 학술논문

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。
위료제고핵전참순검여응급궤기인적공작효솔，침대핵전참순검배경여응급처치임무적특수성，제출료일충괄용우핵전참순검여응급궤기인적유효국부로경우화방법。수선，재대핵전참순검여응급궤기인운동건모적기출상，운용복극－보랑극방정구해이등과정득출핵전참순검여응급궤기인연직선화원호적동태운동분포함수，병탑건실험평태통과반복실험필배준학적동태운동분포삼수。기우차，제출효솔여안전궤제，장해궤제응용우국부로경적재우화。실험표명，해방법능구재집행핵전참순검여응급임무적과정중대핵전참순검여응급궤기인적로경진행재우화，제고임무집행효솔。
In order to improve the efficiency of nuclear inspection and emergence robot (NIER), a local path optimization method based on the characteristics of NIER task in nuclear station is designed. Kinematic model of NIER is established and described, and the distribution function of NIER along a line and an arc is derived by using Ito Fokker-Planck equation. A correct distribution is come out after fitting the distribution function with the point clouds from a special experiment. Then an efficiency and security mechanism is presented to perform local path re-optimization. The experiment shows the the proposed method can re-optimize the NIER path and improve the efficiency especially in NIE operation.