Path Planning of Electric Emergency Robot based on Analytic Hierarchy Process

Electric emergency robot can replace manual entry into power dangerous scene for emergency rescue operation. The rationality of robot path planning has a great impact on the timeliness and accuracy of its operation. A path planning method of emergency robot based on analytic hierarchy process, improved a * algorithm and gradient descent method is proposed. Firstly, the operation objectives in complex scenes are selected by analytic hierarchy process, and then the cost function of a * algorithm is improved by combining the hazard risk curve function and robot protection threshold to realize the global path planning focusing on risk, and then the local dynamic path planning in the movement process is completed based on the gradient descent method. Simulation results show that this method can independently select operation objectives, avoid operation risks and quickly reach the objectives, and effectively improve the timeliness and safety of power emergency operation.