Obstacle-navigation strategy of a wire-suspend robot for power transmission lines

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Obstacle-navigation strategy of a wire-suspend robot for power transmission lines
	Tang L(唐栎); Fu SF(付双飞); Fang LJ(房立金); Wang HG(王洪光)
	2004
会议名称	IEEE International Conference on Robotics and Biomimetics (ROBIO 2004)
会议日期	August 22-26, 2004
会议地点	Shenyang, China
关键词	mobile robot over head ground wire expert system autonomous obstacle-navigation CLIPS
页码	82-87
中文摘要	This paper presents an obstacle-navigation strategy for a wire-suspend robot for power transmission lines based on a novel movement mechanism. The kinematics of the mobile robot and the process of obstacle-navigation control are analyzed in detail. A realtime expert system with hybrid architecture C Language Integrated Production System (CLIPS) is described as the mobile robot control system. The realtime expert system is developed by CLIPS and C language, so it has powerful logical reasoning ability and data processing ability. And the expert system can instruct the mobile robot to navigate obstacles autonomously on overhead ground wires. A realtime process and a conflict elimination algorithm realize the realtime ability of the control system. The robot task plan has two modes : layered plan and direct control. The robot can study online or offline, and when it encounter the same obstacles, it can navigate them quickly.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE Robot & Automat Soc, IEEE HK RA CS Joint Chapter, Chinese Acad Sci, Shenyang Inst Automat, Chinese High tech Dev Program, Robot Soc Japan, Japan Soc Mech Engineers, Int Rescue Syst Inst, Shenyang Hunnan New Urban Area, Shenyang New & High tech Ind Dev Zone
会议录	IEEE ROBIO 2004: Proceedings of the IEEE International Conference on Robotics and Biomimetics
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	0-7803-8641-8
WOS记录号	WOS:000234343000015
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8814]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Tang L,Fu SF,Fang LJ,et al. Obstacle-navigation strategy of a wire-suspend robot for power transmission lines[C]. 见:IEEE International Conference on Robotics and Biomimetics (ROBIO 2004). Shenyang, China. August 22-26, 2004.