Planning and Control in Inspection Robot for Power Transmission Lines

被引：0
|
作者：
Ren, Zhibin [1 ]
Yi Ruan [1 ]
机构：
[1] Shanghai Univ, Sch Mechatron Engn & Automat, Shanghai 200072, Peoples R China
来源：
2008 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY, VOLS 1-5 | 2008年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper introduces a method of robot control system to cross obstacles for power transmission fine. A localization method of laser sensor navigation of inspection robot for wheel-line alignment is proposed. Hierarchical planning structure is adopted in the control system of inspection robot for power transmission lines. Behavior planning combined with motion planning is interpreted to engender motion sequence which is used to execute the automatic control for the robot to cross obstacles. This paper introduces localization method and planning method in robot navigation process. These methods are validated by the experimental results, and the methods are feasible and hardware is simple, and also the way is used for the control system successfully.
引用
收藏
页码：1365 / 1369
页数：5
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