Design and Implementation of the Control System of a Power Transmission Line Inspection Robot

This paper presents a design and implementation method for the control system of extra high power transmission line inspection robot.According to the inspection task requirements,a control mode which combines remote-control with local autonomous control is applied for the robot to travel along the wires and navigate obstacles.A finite state machine model is developed for the robot to integrate remote-control and local autonomous control.A localization method based on laser sensors is adopted to achieve the autonomous obstacle-navigation control.Experiment results show that the robot can travel along the wires and navigate obstacles autonomously,which proves the validity and rationality of the control system design.