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Obstacle-navigation strategy of a wire-suspend robot for power transmission lines

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4 Author(s)
Tang Li ; Robotics Laboratory, Chinese Academy of Science Graduate School of The Chinese Academy of Sciences 114 Nanta Street, Shenyang, 110016, P.R.China ; Fu Shuangfei ; Fang Lijin ; Wang Hongguang

This paper presents an obstacle navigation strategy for a wire-suspend robot for power transmission lines based on a novel movement mechanism. The kinematics of the mobile robot and the process of obstacle navigation control are analyzed in detail. A realtime expert system with hybrid architecture C language integrated production system (CLIPS) is described as the mobile robot control system. The realtime expert system is developed by CLIPS and C language, so it has powerful logical reasoning ability and data processing ability. And the expert system can instruct the mobile robot to navigate obstacles autonomously on overhead ground wires. A realtime process and a conflict elimination algorithm realize the realtime ability of the control system. The robot task plan has two modes: layered plan and direct control. The robot can study online or offline, and when it encounter the same obstacles, it can navigate them quickly

Published in:

Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on

Date of Conference:

22-26 Aug. 2004