付双飞, 王洪光, 房立金, 姜勇. 超高压输电线路巡检机器人越障控制问题的研究[J]. 机器人, 2005, 27(4): 341-345,366.
引用本文: 付双飞, 王洪光, 房立金, 姜勇. 超高压输电线路巡检机器人越障控制问题的研究[J]. 机器人, 2005, 27(4): 341-345,366.
FU Shuang-fei, WANG Hong-guang, FANG Li-jin, JIANG Yong. On Obstacle-navigation Control of Inspection Robot for the Extra-high Voltage Power Transmission Lines[J]. ROBOT, 2005, 27(4): 341-345,366.
Citation: FU Shuang-fei, WANG Hong-guang, FANG Li-jin, JIANG Yong. On Obstacle-navigation Control of Inspection Robot for the Extra-high Voltage Power Transmission Lines[J]. ROBOT, 2005, 27(4): 341-345,366.

超高压输电线路巡检机器人越障控制问题的研究

On Obstacle-navigation Control of Inspection Robot for the Extra-high Voltage Power Transmission Lines

  • 摘要: 给出了一种超高压输电线路巡检机器人控制系统的设计与实现方法.根据机器人的作业任务,提出了基于传感器信息、约束信息以及动作反馈信息作为输入,产生式系统作为动作输出的越障控制方式.仿真结果表明此方法对于机器人的越障过程是有效的.

     

    Abstract: The design and implementation method of a mobile robot control system for extra-high voltage power transmission line inspection is given. Based on the robot task, a kind of obstacle-navigation control method is presented which takes the information of sensors and constraints and the feedback of movement as input and the production system as output. The simulation results show that the method is effective to fulfil the robot obstacle-navigation task.

     

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