| 一种输电线路巡检机器人越障规划方法 |
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| 引用本文： | 郭伟斌,王洪光,姜勇,刘爱华. 一种输电线路巡检机器人越障规划方法[J]. 机器人, 2012, 34(4): 505-512 |
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| 作者姓名： | 郭伟斌 王洪光 姜勇 刘爱华 |
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| 作者单位： | 1. 中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016;中国科学院研究生院,北京100049
2. 中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳,110016 |
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| 基金项目： | 国家863计划资助项目，国家自然科学基金资助项目 |
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| 摘 要： | 针对输电线路巡检机器人的局部自主与远程控制方式,提出了一种基于有限状态机的越障规划方法.将巡检机器人的越障运动过程分解成若干离散化的关键状态,建立了运动规划的有限状态机模型.采用一种基于模糊方法的产生式系统用于推理越障模式,并产生运动序列.仿真与现场实验验证了越障规划方法的正确性和有效性,该方法可应用于输电线路巡检机器人运动控制.
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| 关 键 词： | 运动规划 有限状态机 产生式系统 巡检机器人 架空输电线路 |
Obstacle Navigation Planning for a Power Transmission Line Inspection Robot |
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| GUO Weibin , WANG Hongguang , JIANG Yong , LIU Aihua. Obstacle Navigation Planning for a Power Transmission Line Inspection Robot[J]. Robot, 2012, 34(4): 505-512 |
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| Authors: | GUO Weibin WANG Hongguang JIANG Yong LIU Aihua |
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| Affiliation: | 1 (1.State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China; 2.Graduate University of Chinese Academy of Sciences,Beijing 100049,China) |
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| Abstract: | According to locally autonomous and remote control modes for a power transmission line inspection robot, an FSM(finite state machine) based motion planning method for obstacle navigation is presented.The obstacle navigation processes of the inspection robot are divided into several key discrete states,and FSM models for motion planning are established.A fuzzy-based production system is offered for deducing obstacle navigation modes and producing the motion sequences.Simulation and field experiments prove that the motion planning method for obstacle navigation is correct and valid,and can be applied to motion control of the power transmission line inspection robot. |
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| Keywords: | motion planning finite state machine production system inspection robot overhead power transmission line |
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