Research on Path Planning of High-Voltage Live Working Robot

Ahstract-The high-voltage live working robot is a specialized robotic system employed for the purpose of maintaining and inspecting high-voltage transmission lines. Compared with traditional manual operation methods, it has higher safety and lower cost. The path planning problem is a key issue for the robot to complete the task, which is crucial for improving the accuracy and efficiency of the operation. This paper introduces a path planning methodology and optimization algorithm tailored for high-voltage live working robots, with the objective of achieving secure, efficient, and stable robot movement. Firstly, the implementation process of the Rapidly-exploring Random Trees (RRT) algorithm is analyzed, and an improved RRT algorithm that increases target guidance and direct calculation of target position is proposed. Then, in order to solve the problems of node redundancy and non-smoothness in the generated path, the Cuckoo Search (CS) algorithm is used to optimize the path, and the quadratic B-spline curve is used to smooth the path. Finally, the effectiveness of the proposed path planning and path optimization method is verified through simulation and experiments. The experiments show the proposed method achieves efficient path planning, enabling the robot to move quickly and safely to the target position.