Path Planning for Power Transmission Line Inspection Robot Based on Visual Obstacle Detection | |
Li ZH(李贞辉); Wang HG(王洪光)![]() ![]() | |
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)
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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. |
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