TY - GEN
T1 - Path Planning for Substation Inspection Robot via Improved A∗ Algorithm
AU - Xiong, Yangyilei
AU - Tian, Haoyu
AU - Tang, Jianing
AU - Shen, Xiaoning
AU - Yao, Weiran
AU - Liu, Jianxing
N1 - Publisher Copyright:
© 2025 Technical Committee on Control Theory, Chinese Association of Automation.
PY - 2025
Y1 - 2025
N2 - In this work, a composite path planning strategy is presented for the substation inspection robot. Specifically, a genetic algorithm (GA)-improved A∗ algorithm is proposed for global path planning, while the dynamic window approach (DWA) is employed for local path planning. Initially, the occupancy grid model of the substation environment and the kinematics model of the differential-drive robot are constructed. Subsequently, by incorporating collision cost and augmenting the heuristic cost, an enhanced A∗ algorithm is proposed to improve the safety and planning efficiency of the path. Concurrently, the fundamental framework of the GA is devised to boost both the search efficiency and quality. Moreover, DWA employed in this paper is a local path planning algorithm with the advantages of rapid search speed and smooth planned path. Finally, the algorithm developed in this paper is compared with several existing algorithms. The simulation results validate its effectiveness and superiority.
AB - In this work, a composite path planning strategy is presented for the substation inspection robot. Specifically, a genetic algorithm (GA)-improved A∗ algorithm is proposed for global path planning, while the dynamic window approach (DWA) is employed for local path planning. Initially, the occupancy grid model of the substation environment and the kinematics model of the differential-drive robot are constructed. Subsequently, by incorporating collision cost and augmenting the heuristic cost, an enhanced A∗ algorithm is proposed to improve the safety and planning efficiency of the path. Concurrently, the fundamental framework of the GA is devised to boost both the search efficiency and quality. Moreover, DWA employed in this paper is a local path planning algorithm with the advantages of rapid search speed and smooth planned path. Finally, the algorithm developed in this paper is compared with several existing algorithms. The simulation results validate its effectiveness and superiority.
KW - Path planning
KW - improved A∗ algorithm
KW - substation inspection
UR - https://www.scopus.com/pages/publications/105020304804
U2 - 10.23919/CCC64809.2025.11179197
DO - 10.23919/CCC64809.2025.11179197
M3 - 会议稿件
AN - SCOPUS:105020304804
T3 - Chinese Control Conference, CCC
SP - 2420
EP - 2425
BT - Proceedings of the 44th Chinese Control Conference, CCC 2025
A2 - Sun, Jian
A2 - Yin, Hongpeng
PB - IEEE Computer Society
T2 - 44th Chinese Control Conference, CCC 2025
Y2 - 28 July 2025 through 30 July 2025
ER -