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输电线路悬垂绝缘子清扫机器人行为规划
Alternative TitleBehavior planning of a suspension insulator cleaning robot for power transmission lines
王林; 王洪光; 宋屹峰; 潘新安; 张宏志
Department空间自动化技术研究室
Source Publication吉林大学学报(工学版)
ISSN1671-5497
2018
Volume48Issue:2Pages:518-525
Indexed ByEI ; CSCD
EI Accession number20182605360477
CSCD IDCSCD:6201291
Contribution Rank1
Funding Organization国家自然科学基金项目(51405482) ; 国家电网东北电网有限公司科技项目(Y2V3140301)
Keyword自动控制技术 行为规划 有限状态机 绝缘子清扫机器人 输电线路
Abstract

为了提高悬垂绝缘子清扫机器人局部自主能力,提出了一种基于层次结构和有限状态机的行为规划方法。根据机器人的结构特点、环境特点和清扫作业特点,将机器人的行为分为基本行为和组合行为,给出了描述这些行为的方法,并利用有限状态机管理组合行为中的行为序列。引入了异常处理机制,以保证机器人的可靠运行。仿真和实验验证了行为规划方法的正确性和有效性,该方法可用于绝缘子清扫机器人的清扫作业行为规划。

Other Abstract

To improve the autonomy of suspension insulator cleaning robot, a behavior planning method based on hierarchical structure and finite state machine is proposed. According to the structural features of the robot, the environmental characteristics and the cleaning task, the behaviors of the robot are classified into behaviors and combinational behaviors. The methods to describe these behaviors are presented and the finite state machine is used to manage the sequences of the combinational behaviors. The exceptional handling mechanism is introduced to ensure the reliable operation of the robot. Simulation and laboratory experimental results verify the correctness and effectiveness of the proposed method, which can be applied for behavior planning of the robot to perform suspension insulator cleaning task.

Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/21594
Collection空间自动化技术研究室
Corresponding Author王洪光
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院大学
3.常熟理工学院机械工程学院
4.锦州超高压局
Recommended Citation
GB/T 7714
王林,王洪光,宋屹峰,等. 输电线路悬垂绝缘子清扫机器人行为规划[J]. 吉林大学学报(工学版),2018,48(2):518-525.
APA 王林,王洪光,宋屹峰,潘新安,&张宏志.(2018).输电线路悬垂绝缘子清扫机器人行为规划.吉林大学学报(工学版),48(2),518-525.
MLA 王林,et al."输电线路悬垂绝缘子清扫机器人行为规划".吉林大学学报(工学版) 48.2(2018):518-525.
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