基于有限状态机的输电线路巡检机器人自主越障运动控制方法

针对输电线路巡检机器人自主越障运动控制复杂、越障效率低等问题，以一款五臂式巡检机器人为例，通过规划与分析机器人越障动作序列，基于有限状态机理论，提出一种机器人自主越障运动控制方法。通过建立以传感器检测信息为迁移条件的越障运动控制模型，对机器人自主越障运动进行控制；将机器人置于线路环境进行巡检实验。结果表明：该机器人能自主识别并稳定、高效地跨越线路障碍，完成巡检任务，验证了机器人系统的合理性及自主越障运动控制方法的可行性。

Autonomous Obstacle-crossing Motion Control Method of Transmission Line Inspection Robot Based on Finite State Machine

Aiming at the problems of complex and low efficiency of autonomous obstacle-crossing motion control of transmission line inspection robot, taking a five-arm inspection robot as an example, an autonomous obstacle-crossing motion control method was proposed based on finite state machine theory by planning and analyzing the robot obstacle-crossing action sequence. The motion control model of autonomous obstacle-crossing was established with sensor detection information as migration condition, the autonomous obstacle-crossing movement of robot was controlled; the robot was placed in the line environment for inspection experiment. The results show that the robot can recognize, stably and efficiently cross line obstacles and complete the inspection task, which verifies the rationality of the robot system and the feasibility of the control method of autonomous obstacle-crossing movement.