An Improved Obstacle Navigation Method for Ultra-high Voltage Power Line Inspection Robot

A new inspection robot for ultra-high voltage power line is introduced,and a piecewise control strategy is described.For the main engineering problems in obstacle navigation,the difficulties in the obstacle navigation phase are analyzed theoretically,i.e.adjusting the center of mass and identifying and localizing the power line.Simulation and experimental results demonstrate that the control strategy and theoretical analysis are valid.