| 一种改进的超高压输电线路巡检机器人越障方法 |
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| 引用本文： | 孙翠莲,王洪光,王鲁单,赵明扬.一种改进的超高压输电线路巡检机器人越障方法[J].机器人,2006,28(4):379-384. |
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| 作者姓名： | 孙翠莲 王洪光 王鲁单 赵明扬 |
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| 作者单位： | 中国科学院沈阳自动化研究所机器人学开放实验室,辽宁,沈阳,110016;中国科学院研究生院,北京,100049;中国科学院沈阳自动化研究所机器人学开放实验室,辽宁,沈阳,110016 |
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| 基金项目： | 高比容电子铝箔的研究开发与应用项目 |
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| 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．
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| 关 键 词： | 超高压输电线路 巡检机器人 越障 辨识 定位 |
| 文章编号： | 1002-0446（2006）04-0379-06 |
| 收稿时间： | 2005-11-08 |
| 修稿时间： | 2005-11-08 |
An Improved Obstacle Navigation Method for Ultra-high Voltage Power Line Inspection Robot |
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| SUN Cui-lian,WANG Hong-guang,WANG Lu-dan,ZHAO Ming-yang.An Improved Obstacle Navigation Method for Ultra-high Voltage Power Line Inspection Robot[J].Robot,2006,28(4):379-384. |
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| Authors: | SUN Cui-lian WANG Hong-guang WANG Lu-dan ZHAO Ming-yang |
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| Affiliation: | 1. Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Graduate School of the Chinese Academy of Sciences, Beijing 100049, China |
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| Abstract: | 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. |
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| Keywords: | ultra-high voltage power line inspection robot obstacle navigation identification localization |
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