On Obstacle-navigation Control of Inspection Robot for the Extra-high Voltage Power Transmission Lines

摘要

The design and implementation method of a mobile robot control system for extra-high voltage power transmission line inspection is given. Based on the robot task, a kind of obstacle-navigation control method is presented which takes the information of sensors and constraints and the feedback of movement as input and the production system as output. The simulation results show that the method is effective to fulfil the robot obstacle-navigation task.