Shengfei, T. ., Hui, X. ., Jingjing, Z. ., Jin, C. ., & Zhigang, M. . (2024). An Improved HBA Method for Path Planning of Substation Inspection Robots. Distributed Generation &Amp; Alternative Energy Journal, 39(04), 899–914. https://doi.org/10.13052/dgaej2156-3306.39410