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Alternative TitleLine-grasping control for a power transmission line inspection robot
李贞辉; 王洪光; 王越超; 姜勇; 岳湘
Source Publication吉林大学学报(工学版)
Indexed ByEI ; CSCD
EI Accession number20154101347210
Contribution Rank1
Funding Organization“863”国家高技术研究发展计划项目(2006AA04Z203) ; 国家自然科学基金项目(61179049)
Keyword自动控制技术 自主抓线 巡检机器人 直线检测 输电线位姿估计
Other AbstractTo solve the problem of line-grasping control when an inspection robot crosses obstacles automatically, this paper presents an automatic line-grasping control method. First, a pose estimation method for transmission line is designed based on its textural features and integral projection algorithm. Then, based on the pose error of the transmission line, a human simulating intelligent controller is designed. Using the offset distance, declination, width of the line, and combing with the obliquity of the robot, the automatic line-grasping control is realized. Experiment results with different backgrounds and illuminations show that the poses of the transmission lines can be estimated availably by the proposed method, and the automatic line-grasping task can be achieved reliably and precisely. ©, 2015, Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition). All right reserved.
Citation statistics
Cited Times:3[CSCD]   [CSCD Record]
Document Type期刊论文
Recommended Citation
GB/T 7714
李贞辉,王洪光,王越超,等. 输电线巡检机器人自主抓线的控制[J]. 吉林大学学报(工学版),2015,45(5):1519-1526.
APA 李贞辉,王洪光,王越超,姜勇,&岳湘.(2015).输电线巡检机器人自主抓线的控制.吉林大学学报(工学版),45(5),1519-1526.
MLA 李贞辉,et al."输电线巡检机器人自主抓线的控制".吉林大学学报(工学版) 45.5(2015):1519-1526.
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