Motion planning of inspection robot suspended on overhead ground wires for obstacle-navigation

摘要

The purpose of inspection robot for power transmission lines is to check running state and find damages of extra-high voltage (EHV) power transmission lines equipment. The key of the control design is how to design a robot for obstacles navigation. This paper presents the robot configuration, and describes obstacle-navigation control principle. If the horizontal pose of the body is kept through the gripping mechanism, the gripping force will become bigger, and result in the damage of OGWs. So a centroid adjustment method, which enables the centroid of inspection robot to adjust is proposed in this paper. And then paper presents expert system with hybrid architecture and analyzes decision-making of obstacle-navigation in layered planning mode. On-line experiment results show that the control strategy can guide the inspection robot to patrol along the transmission lines and cross obstacles efficiently.