Research on Task Decomposition of Substation Inspection Robot Based on Improved-ISODATA Algorithm

Aiming at the problems such as planning timeout and increasing charging trips caused by excessive tasks of substation inspection robot, a task decomposition planning method based on improved ISODATA algorithm was proposed to decompose large task into numbers of medium or small tasks to simplify the complexity of a single round. The results show that the method can achieve or approach the same effect of manual decomposing task, and greatly improves the operation experience of robot task planning.