Motion Planning of Inspection Robot Suspended on Overhead Ground Wires for Obstacle-navigation
The purpose of inspection robot for power transmission lines is to check running state and find damages of extra-high voltage (EHV) power transmission lines equipment. The key of the control design is how to design a robot for obstacles navigation. This paper presents the robot configuration, and describes obstacle-navigation control principle. If the horizontal pose of the body is kept through the gripping mechanism, the gripping force will become bigger, and result in the damage of OGWs. So a centroid adjustment method, which enables the centroid of inspection robot to adjust is proposed in this paper. And then paper presents expert system with hybrid architecture and analyzes decision-making of obstacle-navigation in layered planning mode. On-line experiment results show that the control strategy can guide the inspection robot to patrol along the transmission lines and cross obstacles efficiently.
power transmission line inspection robot centroid adjustment obstacles navigation automatically
Ren Zhi-bin Ruan Yi Li Zheng Yang Yong
School of Mechanical and Electrical Engineering, Jiangxi University of Scince and Technology, Jiangx School of Mechatronics Engineering and Automation, Shanghai University , Shanghai 200072
国际会议
2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)
广西桂林
英文
1322-1326
2009-06-17（万方平台首次上网日期，不代表论文的发表时间）