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一种输电线路巡检机器人越障规划方法
Alternative TitleObstacle Navigation Planning for a Power Transmission Line Inspection Robot
郭伟斌; 王洪光; 姜勇; 刘爱华
Department空间自动化技术研究室
Source Publication机器人
ISSN1002-0446
2012
Volume34Issue:4Pages:505-512
Indexed ByEI ; CSCD
EI Accession number20123615396356
CSCD IDCSCD:4596006
Contribution Rank1
Funding Organization国家863计划资助项目(2006AA04Z203);国家自然科学基金资助项目(60875082)
Keyword运动规划 有限状态机 产生式系统 巡检机器人 架空输电线路
Abstract针对输电线路巡检机器人的局部自主与远程控制方式,提出了一种基于有限状态机的越障规划方法。将巡检机器人的越障运动过程分解成若干离散化的关键状态,建立了运动规划的有限状态机模型.采用一种基于模糊方法的产生式系统用于推理越障模式,并产生运动序列。仿真与现场实验验证了越障规划方法的正确性和有效性,该方法可应用于输电线路巡检机器人运动控制。
Other AbstractAccording to locally autonomous and remote control modes for a power transmission line inspection robot, an FSM(finite state machine) based motion planning method for obstacle navigation is presented.The obstacle navigation processes of the inspection robot are divided into several key discrete states,and FSM models for motion planning are established.A fuzzy-based production system is offered for deducing obstacle navigation modes and producing the motion sequences.Simulation and field experiments prove that the motion planning method for obstacle navigation is correct and valid,and can be applied to motion control of the power transmission line inspection robot.
Language中文
Citation statistics
Cited Times:3[CSCD]   [CSCD Record]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/9912
Collection空间自动化技术研究室
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.中国科学院研究生院
Recommended Citation
GB/T 7714
郭伟斌,王洪光,姜勇,等. 一种输电线路巡检机器人越障规划方法[J]. 机器人,2012,34(4):505-512.
APA 郭伟斌,王洪光,姜勇,&刘爱华.(2012).一种输电线路巡检机器人越障规划方法.机器人,34(4),505-512.
MLA 郭伟斌,et al."一种输电线路巡检机器人越障规划方法".机器人 34.4(2012):505-512.
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