NDLI: Structure-Constrained Obstacles Recognition for Power Transmission Line Inspection Robot

Content Provider	IEEE Xplore Digital Library
Author	Siyao Fu Weiming Li Yunchu Zhang Zize Liang Zengguang Hou Min Tan Wenbo Ye Bo Lian Qi Zuo
Copyright Year	2006
Description	Author affiliation: Inst. of Autom., Chinese Acad. of Sci., Beijing (Siyao Fu)
Abstract	Inspection robot must plan its behavior to detect the obstacles from the complex background according to their types when it is crawling along the power transmission line in order to negotiate reliably. However, in most instances, detecting the obstacles from the complex background is a hard task. For this purpose, a novel and fast visual obstacle recognition algorithm is designed based on the structure of the 220 KV power transmission line. Basic principle and architecture of the algorithm are given. By this approach, three typical obstacles on the power transmission line such as insulator strings, counterweights and suspension clamps can be recognized with high accuracy. Experiments in the real power transmission line show its effectiveness. This method can contribute to the process of the mobile robot negotiating obstacles
Starting Page	3363
Ending Page	3368
File Size	301199
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.282513
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Power transmission lines Inspection Mobile robots Robotics and automation Sensor arrays Robot sensing systems Intelligent robots Insulation Power system reliability Laboratories
Content Type	Text
Resource Type	Article

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