Obstacle Navigation Planning for a Power Transmission Line Inspection Robot
GUO Weibin1,2, WANG Hongguang1, JIANG Yong1, LIU Aihua1
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
2. Graduate University of Chinese Academy of Sciences, Beijing 100049, China
According 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 the motion control of power transmission line inspection robot.
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