Power inspection robot path planning method based on improved BIT and artificial potential field method

The invention discloses an electric power inspection robot inspection path planning method based on fusion of improved BIT * and an artificial potential field method, and the method comprises the steps: finding out a preliminary optimal global path according to a conventional BIT * algorithm extension node, carrying out the optimization of the preliminary optimal global path through employing the improved BIT * algorithm, and obtaining and exporting each node in the optimal global path; and on the basis of an artificial potential field method, adding the nodes into a gravitational field, calculating a potential field function of the nodes, generating new nodes, continuously tracking the new nodes until the new nodes reach a target position, and outputting an optimal path of the BIT * fused artificial potential field method. According to the method, the problems that when the BIT * algorithm is independently used, unknown obstacles appear locally and cannot be avoided in time and when the artificial potential