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Path Planning for Power Transmission Line Inspection Robot Based on Visual Obstacle Detection
Li ZH(李贞辉); Wang HG(王洪光); Wang YC(王越超)
作者部门空间自动化技术研究室
会议名称2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)
会议日期December 12-14, 2013
会议地点Shenzhen, China
会议录名称Proceeding of the IEEE International Conference on Robotics and Biomimetics (ROBIO)
出版者IEEE
出版地NEW YORK
2013
页码158-163
收录类别EI ; CPCI(ISTP)
EI收录号20141717632702
WOS记录号WOS:000352739000027
产权排序1
ISBN号978-1-4799-2744-9
摘要In this paper an autonomous mobile robot is proposed for inspecting power transmission lines in mountainous regions. After a brief introduction of background and the robot mechanism, the key functionalities of the inspection robot— obstacle detection in traveling, path planning in obstacle crossing and large-angle line climbing, are discussed in detail. Obstacles are detected and recognized efficiently by a visual method. The obstacle description is built based on visual obstacle detection and a feasible obstacle crossing path is found using a visual graph algorithm. Finally, some field experiments are carried out to show that the robot can work well on the power transmission lines in mountainous regions with the aforementioned functionalities.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/13838
专题空间自动化技术研究室
通讯作者Li ZH(李贞辉)
作者单位1.University of the Chinese Academy of Sciences, Beijing 100039, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
推荐引用方式
GB/T 7714
Li ZH,Wang HG,Wang YC. Path Planning for Power Transmission Line Inspection Robot Based on Visual Obstacle Detection[C]. NEW YORK:IEEE,2013:158-163.
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