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题名: Development and control of an autonomously obstacle-navigation inspection robot for extra-high voltage power transmission lines
作者: Wang LD(王鲁单) ; Fang LJ(房立金) ; Wang HG(王洪光) ; Zhao MY(赵明扬)
作者部门: 机器人学研究室
会议名称: SICE-ICASE International Joint Conference
会议日期: October 18-21, 2006
会议地点: Busan, SOUTH KOREA
会议主办者: SICE, ICASE
会议录: 2006 SICE-ICASE International Joint Conference, Vols 1-13
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2006
页码: 3535-3540
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-89-950038-4-8
关键词: multi-agent ; obstacle-navigation control ; camera-in-hand system ; line-grasping control
摘要: This paper presents a mobile robot suspended on power transmission lines based on a novel movement mechanism with two manipulators and a body. After the inspection robot configuration is described, the kinematics of the inspection robot and the process of obstacle-navigation are analyzed in details. In order to achieve autonomously control the task-oriented integrated control architecture is adopted, and the architecture is a multi-agent system coordinate and organized by distribute blackboard. To achieve auto obstacle-navigation control, camera-in-hand system is adopted to realize power transmission line pose locating. With the power line locating algorithm, a dynamic position based look-and-move control structure is implemented to achieve line-grasping control. Experiments result shows that the robot can realize auto obstacle-navigation control and proves the valid of the control method.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8649
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
王鲁单; 房立金; 王洪光; 赵明扬.Development and control of an autonomously obstacle-navigation inspection robot for extra-high voltage power transmission lines.见:IEEE .2006 SICE-ICASE International Joint Conference, Vols 1-13,NEW YORK,2006,3535-3540
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