Global Path Planning Algorithm for Substation Patrol Robots Based on Modified RRT
A modified RRT algorithm for global path planning was proposed to address the drawbacks of slow search speed,high randomness,lack of consideration and high-voltage safety distance,path redundancy and short of smoothness in the traditional RRT algorithm applied in substation patrol robots.Firstly,a dynamic sampling domain sampling method was proposed to avoid the repeat expansion in explored areas.Then considering the volume of the robots and safety margin for living working in practical usage,the obstacle border was expanded to ensure there were no narrow passages or electrically hazardous area which the robots can not pass through in the searched path.Finally,a pruning method and smoothing method based on B-splines were applied to optimized the path further.The results indicate that the modified algorithm can enhance the efficiency of the path-searching progress successfully.
substation patrol robotrapidly-exploring random treepath planningdynamic sampling domain
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