Path Planning for Power Transmission Line Inspection Robot Based on Visual Obstacle Detection

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 空间自动化技术研究室

	Path Planning for Power Transmission Line Inspection Robot Based on Visual Obstacle Detection
	Li ZH(李贞辉); Wang HG(王洪光); Wang YC(王越超)
	2013
会议名称	2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)
会议日期	December 12-14, 2013
会议地点	Shenzhen, China
页码	158-163
通讯作者	李贞辉
中文摘要	In this paper an autonomous mobile robot is proposed for inspecting power transmission lines in mountainous regions. After a brief introduction of background and the robot mechanism, the key functionalities of the inspection robot— obstacle detection in traveling, path planning in obstacle crossing and large-angle line climbing, are discussed in detail. Obstacles are detected and recognized efficiently by a visual method. The obstacle description is built based on visual obstacle detection and a feasible obstacle crossing path is found using a visual graph algorithm. Finally, some field experiments are carried out to show that the robot can work well on the power transmission lines in mountainous regions with the aforementioned functionalities.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议录	Proceeding of the IEEE International Conference on Robotics and Biomimetics (ROBIO)
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	978-1-4799-2744-9
WOS记录号	WOS:000352739000027
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/13838]
专题	沈阳自动化研究所_空间自动化技术研究室
推荐引用方式 GB/T 7714	Li ZH,Wang HG,Wang YC. Path Planning for Power Transmission Line Inspection Robot Based on Visual Obstacle Detection[C]. 见:2013 IEEE International Conference on Robotics and Biomimetics (ROBIO). Shenzhen, China. December 12-14, 2013.