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Algorithm research of inspection robot for searching for pose of overhead ground wires
Zhu XL(朱兴龙); Wang HG(王洪光); Fang LJ(房立金); Zhao MY(赵明扬); Zhou JP(周骥平)
Department机器人学研究室
Conference Name6th World Congress on Intelligent Control and Automation
Conference DateJune 21-23, 2006
Conference PlaceDalian, China
Author of SourceDalian Univ Technol, Northeastern Univ, Dalian Maritime Univ, Shanghai Baosight Software Co Ltd, IEEE Robot & Automat Soc, Natl Nat Sci Fdn China, Chinese Assoc Automat, IEEE Control Syst Soc, Beijing Chapter, Minist Educ China, Grandar Robot Co Ltd, Yokogawa Elect Corp, KC Wong Educ Fdn, Siemens Ltd
Source PublicationWCICA 2006: Sixth World Congress on Intelligent Control and Automation, Vols 1-12, Conference Proceedings
PublisherIEEE
Publication PlaceNEW YORK
2006
Pages7513-7517
Indexed ByEI ; CPCI(ISTP)
EI Accession number20071510543947
WOS IDWOS:000241773208107
Contribution Rank1
ISBN1-4244-0331-6
KeywordAutonomous Obstacle Surmounting Algorithm Inspection Of Transmission Lines Mobile Robot
AbstractWhen inspection robot surmounts the obstacles, one arm is on the overhead ground wires (OGWs), the other arm is off OGWs. After surmounting the obstacles, the arm, which had been off, demands to be on OGWs again. Now the problem is that the pose of OGWs is unknown, and how to ensure the arm had been off comes back to OGWs again, and implements autonomous obstacles negotiating. 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 rotary angles can be programmed by the algorithm proposed, and the arm can realizes autonomously to be on OGWs reliably. Finally, the simulation test shows that the algorithm presented is feasible.
Language英语
Citation statistics
Cited Times:3[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/8551
Collection机器人学研究室
Corresponding AuthorZhu XL(朱兴龙)
Affiliation1.Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning Province, 110016, China
2.Mechanical Engineering College, Yangzhou University, Yangzhou, Jiangsu Province, 225009, China
Recommended Citation
GB/T 7714
Zhu XL,Wang HG,Fang LJ,et al. Algorithm research of inspection robot for searching for pose of overhead ground wires[C]//Dalian Univ Technol, Northeastern Univ, Dalian Maritime Univ, Shanghai Baosight Software Co Ltd, IEEE Robot & Automat Soc, Natl Nat Sci Fdn China, Chinese Assoc Automat, IEEE Control Syst Soc, Beijing Chapter, Minist Educ China, Grandar Robot Co Ltd, Yokogawa Elect Corp, KC Wong Educ Fdn, Siemens Ltd. NEW YORK:IEEE,2006:7513-7517.
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