Path Planning for Substation Inspection Robots Based on Improved A-Star Algorithm

Abstract

Using robots to replace manual inspection of power equipment in substation can reduce work risk and improve inspection efficiency. However, the electric and magnetic fields distributed around the power equipment will cause interference to the robots. In this paper, the safety of the inspection process is ensured by adding electromagnetic field constraints around the relevant power equipment in the substation. The path length and turning point were optimized by extending the search neighborhood, introducing the distance deviation function and dynamically adjusting the weight ratio in the evaluation function. Finally, the superiority of the algorithm is proved by simulation experiments.