PATH PLANNING METHOD FOR SUBSTATION INSPECTION ROBOT

The invention discloses a path planning method for a substation inspection robot, which includes the following steps: 1) constructing a road network constraint model for robot movement according to a map; 2) constructing a temperature measurement point inspection pose constraint model in consideration of actual constraints of the pose of a holder and a measured visual distance when the robot measures the temperature of a target in combination with temperature measurement points; 3) determining a robot stop point set according to a robot movement road network and the temperature measurement point inspection pose constraint model; 4) constructing an inspection robot path planning model with a goal of minimizing time to complete inspection; and 5) solving the model to output an inspection path and position of each stop point corresponding to a globally optimal solution, and a set of temperature measurement points corresponding to each stop point, which is used as a path planning solution for the substation inspection robot to perform temperature measurement tasks. [0002] The method of the invention solves the path planning problem of the robot carrying a thermal imager to autonomously measure the temperature of a high-voltage line under a road network constraint and a pose constraint.