GIS Inspection Robot Based on LOAM-Livox and MPC Model Predictive Control

In 220kV and below substations, Gas-Insulated Switchgear (GIS) is used to ensure the stable operation of the power system. However, during long-term operation, GIS equipment may experience faults or damage due to SF6 insulation gas leakage. This paper proposes an environmental map construction algorithm based on LOAM-Livox and a trajectory tracking method based on MPC model predictive control. The research results show that the combination of the LOAM-Livox mapping algorithm and the MPC model predictive control trajectory tracking method can significantly improve the mapping accuracy and autonomous navigation ability of the GIS equipment inspection robot, and at the same time increase the inspection efficiency. The method provided in this paper completes the inspection task of GIS equipment through high-precision map construction and autonomous navigation, replacing manual inspection and promoting the development of power system operation and maintenance towards intelligence.