A Path-Planning Method for Wall Surface Inspection Robot Based on Improved Genetic Algorithm

A wall surface inspection robot mainly relies on the inertial measurement unit and global positioning system (GPS) signal during intelligent inspection. The may encounter incorrect under a GPS-denied environment, easily triggering safety accidents. In order to obtain path suitable for safe work of in path-planning method robots was proposed based improved generic algorithm (GA). influencing factor GPS strength introduced into heuristic function planning GA address aforementioned problem. Using PSO algorithm, initialized term fitness degree so as achieve point-to-point vertical robot. Path angle probability intersection variation taken account better capability. Finally, simulation experiments were performed. generated using found avoid blind area signal. has good performance with average convergence times 35.9 an 55.88° simple environment. Contrary traditional showed advantages terms rate, quality, change, stability. research presented this article is meaningful relatively sufficient. test also quite convincing. proved be effective