Development and control of an autonomously obstacle-navigation inspection robot for extra-high voltage power transmission lines
文献类型：会议论文
| 作者 | Wang LD(王鲁单); Fang LJ(房立金); Wang HG(王洪光) ; Zhao MY(赵明扬)
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| 出版日期 | 2006 |
| 会议名称 | SICE-ICASE International Joint Conference |
| 会议日期 | October 18-21, 2006 |
| 会议地点 | Busan, SOUTH KOREA |
| 关键词 | multi-agent obstacle-navigation control camera-in-hand system line-grasping control |
| 页码 | 3535-3540 |
| 中文摘要 | This paper presents a mobile robot suspended on power transmission lines based on a novel movement mechanism with two manipulators and a body. After the inspection robot configuration is described, the kinematics of the inspection robot and the process of obstacle-navigation are analyzed in details. In order to achieve autonomously control the task-oriented integrated control architecture is adopted, and the architecture is a multi-agent system coordinate and organized by distribute blackboard. To achieve auto obstacle-navigation control, camera-in-hand system is adopted to realize power transmission line pose locating. With the power line locating algorithm, a dynamic position based look-and-move control structure is implemented to achieve line-grasping control. Experiments result shows that the robot can realize auto obstacle-navigation control and proves the valid of the control method. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | SICE, ICASE |
| 会议录 | 2006 SICE-ICASE International Joint Conference, Vols 1-13
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-89-950038-4-8 |
| WOS记录号 | WOS:000246237603133 |
| 源URL | [http://ir.sia.cn/handle/173321/8649]  |
| 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 | Wang LD,Fang LJ,Wang HG,et al. Development and control of an autonomously obstacle-navigation inspection robot for extra-high voltage power transmission lines[C]. 见:SICE-ICASE International Joint Conference. Busan, SOUTH KOREA. October 18-21, 2006. |
入库方式： OAI收割
来源：沈阳自动化研究所
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