摘要
介绍了一种新型的超高压输电线路巡检机器人,阐述了分阶段的控制策略.主要针对越障的工程实际问题,从理论上分析了越障阶段的难点:质心调节,输电线的辨识与定位问题.进行了仿真和试验,验证了控制策略和理论分析的正确性.
A new inspection robot for ultra-high voltage power line is introduced, and a piecewise control strategy is described. For the main engineering problems in obstacle navigation, the difficulties in the obstacle navigation phase are analyzed theoretically, i.e. adjusting the center of mass and identifying and localizing the power line. Simulation and experimental results demonstrate that the control strategy and theoretical analysis are valid.
出处
《机器人》
EI
CSCD
北大核心
2006年第4期379-384,共6页
Robot
基金
国家863计划资助项目(2002AA420110)
关键词
超高压输电线路
巡检机器人
越障
辨识
定位
ultra-high voltage power line
inspection robot
obstacle navigation
identification
localization
