Path Planning for Substation Inspection Robots Based on a Fusion Algorithm Incorporation JPS and DWA

Abstract

Substation inspection robots often encounter complex environments, making the rapid identification of accessible paths crucial. Traditional global path planning methods for substation inspection robots are often characterized by shortcomings, such as prolonged execution times and substantial memory consumption. To address these issues, this paper introduces a novel strategy that integrates an improved jump point search (JPS) algorithm with the dynamic window algorithm (DWA). To mitigate the slow search speed of the traditional JPS algorithm, this study first proposes a bidirectional jump-point search technique. Additionally, an adaptive end-search mechanism is introduced to address the potential issue of non-overlapping jump points during the bidirectional search process. Second, to further enhance the reliability of the jump-point search algorithm, the search range is expanded from the original 8 domains to 16 domains. Additionally, a novel obstacle avoidance strategy and a revised cost function are proposed. Finally, the DWA algorithm is integrated to ensure that the planned path aligns more closely with the robot’ s actual trajectory. Experimental results demonstrate that the proposed algorithm maximally reduces the search time by 55.9% and the path length by 5.61% compared with traditional JPS algorithm, and shows superior overall performance in larger and more complex map environments.

Keywords

• Inspection robot
• path planning
• jump point search algorithm
• dynamic window algorithm (DWA)
• bidirectional search