Obstacle detection and locating method of an autonomous inspection robot on high voltage transmission line

摘要

There are various type obstacles on the high voltage circuit.Aiming at multi-type and multiple quantity sensors in the control system of robot,several obstacle detection behaviors are classified and planned according to difference of circuit's environment information and several speed class of moving robot,and a obstacle detection and locating method fuses the behaviors above rationally.Then,several control algorithms of obstacle detection behavior in every speed class are designed respectively.Obstacle detection's experiment on the simulate circuit outside proves validity and practicability of the obstacle detection and locating method based behavior fusion.