Optimization of Intelligent Algorithm for Path Planning of Substation Inspection Robot

When traditional A* algorithm is used for path planning, there may be problems such as the length of the planned path is not optimal and the path is not smooth enough. In this paper, the heuristic search in 16 adjacent fields is proposed to change the search direction into more continuous directions...

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Bibliographic Details
Published in2022 4th International Conference on Smart Power & Internet Energy Systems (SPIES) pp. 2335 - 2338
Main Authors Huashen, Guan, Haomiao, Xin, Guofu, Sun
Format Conference Proceeding
LanguageEnglish
Published IEEE 09.12.2022
Subjects
A algorithm
Costs
Energy
Heuristic algorithms
Inspection
intelligent algorithm
minimum binary heap
Path planning
Planning
substation
Substations
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Summary:When traditional A* algorithm is used for path planning, there may be problems such as the length of the planned path is not optimal and the path is not smooth enough. In this paper, the heuristic search in 16 adjacent fields is proposed to change the search direction into more continuous directions, and the minimum binary heap is used to store the open list of A* algorithm to speed up the speed of selecting the node with the lowest cost from the open list. The experiment shows that the 16 domain A* algorithm is significantly ahead of the traditional A* algorithm in path length, planning time and path planning optimization effect, which has practical research significance.
DOI:10.1109/SPIES55999.2022.10082497