Algorithm research of inspection robot for searching for pose of overhead ground wires
文献类型：会议论文
| 作者 | Zhu XL(朱兴龙); Wang HG(王洪光) ; Fang LJ(房立金); Zhao MY(赵明扬); Zhou JP(周骥平)
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| 出版日期 | 2006 |
| 会议名称 | 6th World Congress on Intelligent Control and Automation |
| 会议日期 | June 21-23, 2006 |
| 会议地点 | Dalian, China |
| 关键词 | autonomous obstacle surmounting algorithm inspection of transmission lines mobile robot |
| 页码 | 7513-7517 |
| 通讯作者 | 朱兴龙 |
| 中文摘要 | When inspection robot surmounts the obstacles, one arm is on the overhead ground wires (OGWs), the other arm is off OGWs. After surmounting the obstacles, the arm, which had been off, demands to be on OGWs again. Now the problem is that the pose of OGWs is unknown, and how to ensure the arm had been off comes back to OGWs again, and implements autonomous obstacles negotiating. Two laser sensors are adopted for checking two marginal points on OGWs, and the pose of OGWs is determined by the checking marginal points. According to the kinematics model of inspection robot, the rotary angles can be programmed by the algorithm proposed, and the arm can realizes autonomously to be on OGWs reliably. Finally, the simulation test shows that the algorithm presented is feasible. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | Dalian Univ Technol, Northeastern Univ, Dalian Maritime Univ, Shanghai Baosight Software Co Ltd, IEEE Robot & Automat Soc, Natl Nat Sci Fdn China, Chinese Assoc Automat, IEEE Control Syst Soc, Beijing Chapter, Minist Educ China, Grandar Robot Co Ltd, Yokogawa Elect Corp, KC Wong Educ Fdn, Siemens Ltd |
| 会议录 | WCICA 2006: Sixth World Congress on Intelligent Control and Automation, Vols 1-12, Conference Proceedings
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| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 1-4244-0331-6 |
| WOS记录号 | WOS:000241773208107 |
| 源URL | [http://ir.sia.cn/handle/173321/8551]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Zhu XL,Wang HG,Fang LJ,et al. Algorithm research of inspection robot for searching for pose of overhead ground wires[C]. 见:6th World Congress on Intelligent Control and Automation. Dalian, China. June 21-23, 2006. |
入库方式： OAI收割
来源：沈阳自动化研究所
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