一种智能巡检机器人的体系结构分析与设计

Design and Analysis on the Architecture of an Intelligent Iterative Inspection Robot

摘要: 介绍了一种变电站巡检智能移动机器人基于模块设计思想的软硬件体系结构，给出了基于该体系结构的车体运动学建模和避障算法．通过机器人的现场运行验证了该体系结构的合理性以及可行性．

Abstract: This paper introduces the software and hardware architecture of the intelligent iterative inspection robot based on the modular design concept,and presents a method for kinematic modeling and obstacle avoiding.Furthermore,the field running result of the robot is described.