Pipeline cleaning robot path planning research

With the development of society, central air conditioning has been widely used in life. However, due to long-term use and incomplete cleaning, a large number of dust, bacteria and other harmful substances will adhere to the outer wall of the pipeline, which will greatly affect people's normal work and life. In order to solve this problem, an automatic pipeline cleaning robot based on tensioning structure is proposed in this paper. It has unique advantages in the field of mobile robot. At the same time, this paper also introduces the path planning algorithm of robot based on bidirectional fast search random tree (RRT), and puts forward the shortcomings and improvement ideas.