一种输电线路巡检机器人越障规划方法

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郭伟斌, 王洪光, 姜勇, 刘爱华. 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.. GUO Weibin, WANG Hongguang, JIANG Yong, LIU Aihua. Obstacle Navigation Planning for a Power Transmission Line Inspection Robot. ROBOT, 2012, 34(4): 505-512..

摘要

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．

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	郭伟斌
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关键词 ：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：

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.

Key words： motion planning finite state machine production system inspection robot overhead power transmission lines

收稿日期: 2011-11-18 录用日期: 2012-06-12

:	TP24
	TM7

基金资助:

国家863计划资助项目（2006AA04Z203）；国家自然科学基金资助项目（60875082）

通讯作者: 郭伟斌 E-mail: aaa0131106@163.com

作者简介: 郭伟斌（1982-），男，博士生，研究领域：机器人机构与控制．
王洪光（1965-），男，博士，研究员，博士生导师．研究领域：机器人机构学，特种机器人及机电一体化技术．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2012/V34/I4/505

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