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Obstacle-navigation strategy of a wire-suspend robot for power transmission lines
Tang L(唐栎); Fu SF(付双飞); Fang LJ(房立金); Wang HG(王洪光)
Department机器人学研究室
Conference NameIEEE International Conference on Robotics and Biomimetics (ROBIO 2004)
Conference DateAugust 22-26, 2004
Conference PlaceShenyang, China
Author of SourceIEEE Robot & Automat Soc, IEEE HK RA CS Joint Chapter, Chinese Acad Sci, Shenyang Inst Automat, Chinese High tech Dev Program, Robot Soc Japan, Japan Soc Mech Engineers, Int Rescue Syst Inst, Shenyang Hunnan New Urban Area, Shenyang New & High tech Ind Dev Zone
Source PublicationIEEE ROBIO 2004: Proceedings of the IEEE International Conference on Robotics and Biomimetics
PublisherIEEE
Publication PlaceNEW YORK
2004
Pages82-87
Indexed ByEI ; CPCI(ISTP)
EI Accession number2005499531898
WOS IDWOS:000234343000015
Contribution Rank1
ISBN0-7803-8641-8
KeywordMobile Robot Over Head Ground Wire Expert System Autonomous Obstacle-navigation Clips
AbstractThis paper presents an obstacle-navigation strategy for a wire-suspend robot for 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. A realtime expert system with hybrid architecture C Language Integrated Production System (CLIPS) is described as the mobile robot control system. The realtime expert system is developed by CLIPS and C language, so it has powerful logical reasoning ability and data processing ability. And the expert system can instruct the mobile robot to navigate obstacles autonomously on overhead ground wires. A realtime process and a conflict elimination algorithm realize the realtime ability of the control system. The robot task plan has two modes : layered plan and direct control. The robot can study online or offline, and when it encounter the same obstacles, it can navigate them quickly.
Language英语
Citation statistics
Cited Times:12[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/8814
Collection机器人学研究室
Affiliation1.Robotics Laboratory, Chinese Academy of Science, Graduate School of the Chinese Academy of Science, 114 Nanta Street, Shenyang, 110016, China
2.Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Science, 114 Nanta Street, Shenyang, 110016, China
Recommended Citation
GB/T 7714
Tang L,Fu SF,Fang LJ,et al. Obstacle-navigation strategy of a wire-suspend robot for power transmission lines[C]//IEEE Robot & Automat Soc, IEEE HK RA CS Joint Chapter, Chinese Acad Sci, Shenyang Inst Automat, Chinese High tech Dev Program, Robot Soc Japan, Japan Soc Mech Engineers, Int Rescue Syst Inst, Shenyang Hunnan New Urban Area, Shenyang New & High tech Ind Dev Zone. NEW YORK:IEEE,2004:82-87.
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