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题名: Obstacle-navigation control for a mobile robot suspended on overhead ground wires
作者: Tang L(唐栎) ; Fang LJ(房立金) ; Wang HG(王洪光)
作者部门: 机器人学研究室
会议名称: 8th International Conference on Control, Automation, Robotics and Vision (ICARCV 2004)
会议日期: December 6-9, 2004
会议地点: Kunming, China
会议主办者: Nanyang Technol Univ, Sch Elect & Elect Engn, Republic Singapore, Nanjing Univ Sci & Technol, Peoples Republic China, IEEE Robotics & Automation Soc, IEEE Syst, Man & Cybernet Soc, IEEE Control Syst Soc, IEE, Natl Nat Sci Fdn China, Singapore Tech Engn Ltd, Lee Fdn
会议录: 2004 8th International Conference on Control, Automation, Robotics and Vision, Vols 1-3
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2004
页码: 2082-2087
收录类别: CPCI(ISTP) ; EI
ISBN号: 0-7803-8653-1
关键词: obstacle-navigation control ; mobile robot ; over head ground wire ; expert system ; CLIPS
摘要: This paper presents an obstacle-navigation control strategy for a mobile robot suspended on overhead ground wires of power transmission lines based on a novel movement mechanism The kinematics of the mobile robot and the process of obstacle-navigation control are analyzed in detail. This paper presents to develop robot expert system using hybrid programming of C Language Integrated Production System (CLIPS) and C language, and the robot expert system has powerful logical reasoning ability and data processing ability. The robot control modes have layered planning and direct control. This paper describes the robot expert system with hybrid architecture and analyzed decision-making of obstacle-navigation in layered planning mode in detail. The robot can learn online of offline, and when it encounter the same obstacles, it can navigate them quickly. Obstacle-navigation control is the difficult point of the type of wire-suspended robot and the expert system can instruct the mobile robot to navigate obstacles autonomously on overhead ground wires.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8812
Appears in Collections:机器人学研究室_会议论文

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