Beetle Antennae Search guided RRT* for path planning of GIS inspection and maintenance robot

摘要

Aiming at efficient path planning of the gas insulated switchgear (GIS) robot which is used for inspecting and maintaining the GIS equipment, this paper proposed a Beetle Antennae Search (BAS)-inspired RRT* algorithm. The new algorithm combines basic RRT* with BAS, a metaheuristic approach, to inspire the sampling, and utilizes a weighted lazy extension mechanism to contribute expanding useful nodes. BASL-RRT* is firstly compared with three improved RRT* algorithms and simulation results verify the effectiveness and the superiority of BASL-RRT*. Then, we apply this new method on path planning of GIS robot. The result shows that safe and smooth path could be obtained efficiently.