Ahstract-The　high-voltage　live　working　robot　is　a　specialized　robotic　system　employed　for　the　purpose　of　maintaining　and　inspecting　high-voltage　transmission　lines.　Compared　with　traditional　manual　operation　methods,　it　has　higher　safety　and　lower　cost.　The　path　planning　problem　is　a　key　issue　for　the　robot　to　complete　the　task,　which　is　crucial　for　improving　the　accuracy　and　efficiency　of　the　operation.　This　paper　introduces　a　path　planning　methodology　and　optimization　algorithm　tailored　for　high-voltage　live　working　robots,　with　the　objective　of　achieving　secure,　efficient,　and　stable　robot　movement.　Firstly,　the　implementation　process　of　the　Rapidly-exploring　Random　Trees　(RRT)　algorithm　is　analyzed,　and　an　improved　RRT　algorithm　that　increases　target　guidance　and　direct　calculation　of　target　position　is　proposed.　Then,　in　order　to　solve　the　problems　of　node　redundancy　and　non-smoothness　in　the　generated　path,　the　Cuckoo　Search　(CS)　algorithm　is　used　to　optimize　the　path,　and　the　quadratic　B-spline　curve　is　used　to　smooth　the　path.　Finally,　the　effectiveness　of　the　proposed　path　planning　and　path　optimization　method　is　verified　through　simulation　and　experiments.　The　experiments　show　the　proposed　method　achieves　efficient　path　planning,　enabling　the　robot　to　move　quickly　and　safely　to　the　target　position.　©　2023　IEEE.