NDLI: Control of inspection robot for the power transmission lines based on database

Content Provider	IEEE Xplore Digital Library
Author	Ren Zhibin Ruan Yi Yang Yong Zhang Chaoyi Liu Xu
Copyright Year	2008
Description	Author affiliation: Sch. of Mechatron. Eng. & Autom., Shanghai Univ., Shanghai (Ren Zhibin; Ruan Yi; Yang Yong; Zhang Chaoyi; Liu Xu)
Abstract	This paper introduces an obstacle-navigation control strategy for a inspection robot suspended on overhead ground wires(OGWs) of power transmission lines. With the analysis of obstacle-navigation control process, a localization method and database is introduced. When inspection robot surmounts the obstacles, 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 motion can be programmed by the algorithm proposed, and the arm can realizes autonomously to be on OGWs reliably after searching and wheel-line alignment process. This paper presents database with hybrid architecture and analyzes decision-making of obstacle-navigation in layered planning mode. Experiment results show that the control strategy can guide the inspection robot to patrol along the transmission lines and cross obstacles efficiently.
Starting Page	281
Ending Page	285
File Size	194329
Page Count	5
File Format	PDF
ISBN	9787900719706
DOI	10.1109/CHICC.2008.4604883
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-07-16
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute Of Intelligence M&C Technical Of KMUST
Subject Keyword	Power transmission lines Databases Navigation Obstacles navigation automatically Inspection robot Inspection Robot sensing systems Sensors Robots Data base Power transmission line
Content Type	Text
Resource Type	Article

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