Obstacle-Navigation Control of Inspection Robot for Power Transmission Lines

摘要

Robot for inspecting the power transmission lines must crawl along the line and plan its behaviors to negotiate obstacles in various shapes.The robot,deliberately designed as both hanging-arms on the same side,was developed for inspecting the 220 kV transmission lines.The problems of obstacle localization,arm positioning,and attitude adjustment were studied.The position and direction of the robot could be calculated and the horizon of its body be kept by some specific algorithms according to sensors' outputs.The experimental results showed that the robot could travel along the wires,and navigate obstacles autonomously,and proved that the system design was valid.