Based on the inspection environment and tasks of substation inspection robots and drones, a grid method is proposed to simulate the division of three-dimensional point cloud data in substations, decompose it into a series of grid units with binary information, and combine genetic algorithm to perform global path planning for substation inspection robots. Through MATLAB simulation, it has been proven that this method combining grid maps, 3D point clouds, and genetic algorithms can quickly and effectively obtain the optimal obstacle avoidance path for robots and drones in known environments.
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Zheng et al. (2024) studied this question.
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