{"title":"Motion planning of inspection robot suspended on overhead ground wires for obstacle-navigation","authors":"Ren Zhi-bin, Ruan Yi, Li Zheng, Yang Yong","doi":"10.1109/CCDC.2009.5192699","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":127110,"journal":{"name":"2009 Chinese Control and Decision Conference","volume":"35 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2009-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"8","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2009 Chinese Control and Decision Conference","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CCDC.2009.5192699","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 8
Abstract
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.
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