Abstract: We established a semistructured road model for the characteristics of walking route of domestic transformer substation inspection robots. It combined the improved Dijkstra and simulated annealing algorithms and then was applied to the design of global path planning of transformer substation intelligent inspection robot. We also constructed an electronic map system with global path planning functionality, which was based on SQL Server and VC++. The system has been put into operation in a transformer substation inspection robot platform.Actual operation results show that the model is feasible and highlyefficient.

Key words: semistructured, simulated annealing algorithm, path planning, improved Dijkstra algorithm