Abstract
After publishing the auction conditions for the transmission facilities, concessionaires must assess whether the proposed condition is advantageous for them, taking into account various cost factors, directly financial or not. Given the short time for making this decision, it is important that there is a tool to assist them in this process. In this work, we present an optimization methodology for obtaining the optimal routing of transmission lines between two points, taking into account several financial, social and environmental factors. This problem has been discussed in many previous works, but the most significant difference of the proposed methodology is that it is an adaptation of a preeminent technique for the motion planning of robots: (Optimal) Rapid Random Trees, since there is a strong analogy between the problem of optimal routing of transmission lines and that of optimal motion planning of robots. The algorithm is detailed and results for three scenarios with moderate complexity are presented. These results are compatible with the experience of professionals from the field who supervised this research.
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