Optimal Inspection Path planning of substation robot in the complex substation environment

With the in-depth reform of the power system, intelligent robot inspection systems that can be used to replace substation manual inspections have been widely used. The path planning problem is the basic problem in the application of substation robot system. It has important theoretical and practical significance to study the path planning problem. Based on the graph theory, the substation environment map modeling is carried out, and the heuristic search algorithm and Dijkstra algorithm are studied to carry out the path planning of inspection robot in the substation environment. Considering the actual system running condition, increasing the turning times and turning angles as evaluation indexes, the Dijkstra algorithm is improved to make the algorithm more Suitable for practical applications. The method proposed in this paper is verified to prove the feasibility of the proposed method.