Algorithm Research of Inspection Robot for Searching for Poseof Overhead Ground Wires

When inspection robot surmounts the obstacles, one arm is on the overhead ground wires (OGWs), the other arm is off OGWs. After surmounting the obstacles, the arm, which had been off, demands to be on OGWs again. Now the problem is that the pose of OGWs is unknown, and how to ensure the arm had been off comes back to OGWs again, and implements autonomous obstacles negotiating. Two laser sensors are adopted for checking two marginal points on OGWs, and the pose of OGWs is determined by the checking marginal points. According to the kinematics model of inspection robot, the rotary angles can be programmed by the algorithm proposed, and the arm can realizes autonomously to be on OGWs reliably. Finally, the simulation test shows that the algorithm presented is feasible.