Path Planning of Insulated Bucket Truck Based on Improved RRT

The insulated bucket truck for live-maintaining work in distribution networks is a special operation vehicle that cooperates with the live-maintaining work robot in distribution networks. It aims to safely and efficiently deliver the live-maintaining work robot in the end bucket to the operation point. To improve the efficiency of bucket adjustment, this paper proposes a control system for the insulated bucket truck. Since the kinematic model of the insulated bucket truck does not satisfy the Pieper criterion, this paper uses the Denavit-Hartenberg(D-H) parameter method to build the forward kinematic model of the bucket truck and uses the Particle Swarm Optimization(PSO) algorithm to solve the inverse kinematics. In response to the problem that the insulated bucket truck can only control one joint at a time, this paper uses an improved RRT algorithm to plan the path of the end of the insulated bucket truck to obtain a suitable bucket adjustment decision. Experimental results show that the PSO algorithm can effectively solve the inverse kinematics solution, and the improved RRT algorithm can obtain a reasonable path and bucket adjustment decision under the condition of fewer environmental obstacles.