Insulated Bucket Arm Vehicle Bucket Arm Spatial Motion Path Planning and Algorithm Analysis Design

Insulated bucket arm vehicle operations are the primary method for live-line work in the power grid. Operating the bucket arm involves high operational complexity and the risk of errors and accidental contact. Currently, research on the automatic control of bucket arm vehicles is limited. This article is based on research methods for the automation of robotic mechanical arms, focusing on the automatic control of bucket arm vehicle mechanical arms. A modified Rapidly-exploring Random Tree (RRT) algorithm tailored to the specific characteristics of insulated bucket arm vehicle mechanical arms is proposed. By introducing distance criteria and improving the algorithm’s branching and expansion methods, computation speed is accelerated. Additionally, a collision detection function is implemented to enhance obstacle avoidance capabilities, thereby increasing its functionality. Finally, the application of the RRT algorithm in path planning for the bucket arm vehicle’s body and the selection of feasible stopping areas is investigated, demonstrating its feasibility.