Planning and control in inspection robot for power transmission lines

摘要

This paper introduces a method of robot control system to cross obstacles for power transmission line. A localization method of laser sensor navigation of inspection robot for wheel-line alignment is proposed. Hierarchical planning structure is adopted in the control system of inspection robot for power transmission lines. Behavior planning combined with motion planning is interpreted to engender motion sequence which is used to execute the automatic control for the robot to cross obstacles. This paper introduces localization method and planning method in robot navigation process. These methods are validated by the experimental results, and the methods are feasible and hardware is simple, and also the way is used for the control system successfully.