Visual Servo Control of Obstacle Negotiation for Overhead Power Line Inspection Robot
ZHANG Yun-chu1,2, LIANG Zi-ze1, TAN Min1, YE Wen-bo3, LIAN Bo3
1. Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China; 2. School of Information and Electric Engineering, Shandong Jianzhu University, Jinan 250101, China; 3. Zunyi Power Supply Bureau, Guizhou Power Grid Corporation, Zunyi 563000, China
张运楚, 梁自泽, 谭民, 叶文波, 练波. 架空输电线路巡线机器人越障视觉伺服控制[J]. 机器人, 2007, 29(2): 111-116..
ZHANG Yun-chu, LIANG Zi-ze, TAN Min, YE Wen-bo, LIAN Bo. Visual Servo Control of Obstacle Negotiation for Overhead Power Line Inspection Robot. ROBOT, 2007, 29(2): 111-116..
Abstract：An image-based visual servo control scheme is designed to guide the inspection robot to negotiate obstacles.Based on Fourier descriptors,the feature vector of the driving wheel contour is constructed,which is an invariant to rotation,scaling,translation and starting point,then the recognition of driving wheel is realized.The image features are extracted and the driving wheel-powerline relative pose is estimated.A proportional control law with dead zone is given to achieve the driving wheel-powerline alignment operation.The experimental results with simulation power line show that the visual servo control scheme can achieve the driving wheel-powerline alignment reliably.
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