Method of Discretization and Optimization of Base Points in Route Planning for Ground‑Based Robotic Systems Used for Power Facility Diagnostics
Abstract
Method of Discretization and Optimization of Base Points in Route Planning for Ground‑Based Robotic Systems Used for Power Facility Diagnostics
Incoming article date: 19.08.2025Reliability of power‑generation facilities is directly tied to the completeness and regularity of technical‑condition inspections. Traditional approaches—based on visual inspection and spot measurements—are labor‑intensive, poorly reproducible, and pose safety risks to maintenance personnel. In this context, the use of mobile robotic systems that can autonomously survey substations and other energy equipment is increasingly relevant. A key determinant of the effectiveness of such robotic platforms is the quality of the planned route: the coverage of equipment needed to obtain diagnostically valuable information.
In this paper we propose a method for discretizing and optimizing base‑point locations that formalizes the construction of inspection routes. The method sequentially applies a series of algorithms: (1) geometric discretization of the admissible motion area using a regular grid; (2) filtering of points while respecting the technical constraints of the robotic system (RTS) and no‑entry zones; (3) modeling of visibility zones with simplified colliders and quantitative assessment of visibility quality; and (4) optimization of the set of base points as a coverage problem.
The method’s effectiveness is demonstrated on a three‑dimensional model of a substation: scenario tests showed a reduction of the number of base positions by more than a factor of four while maintaining a high coverage rate (≥ 97 %). The practical value lies in the possibility of integrating the proposed methods into the diagnostic and technical‑control intelligence subsystems, thereby reducing labor costs, improving route reproducibility, and enhancing the quality of automated diagnostics in the energy sector.Keywords: robotic platform, equipment diagnostics, route planning, equipment inspection, coverage problem, automation of the technological process