Obstacle-navigation control of inspection robot for power transmission lines based on knowledge base

摘要

This paper introduces a method of robot control system to cross obstacles for power transmission line inspection.Inspection robot for power line is in same operation when across same obstacles,control system learns in laboratory and format knowledge base.The knowledge and sensor information get on-line is used to produce the behavior sequence which execute the automatic control for the robot to cross obstacles.This paper introduces general constitution and function of knowledge base,and discusses a method of laser sensor navigation of inspection robot for high-voltage transmission line to achieve the driving-wheel-line alignment operation.The method is validated by the experimental results,the method of navigation is feasible and hardware is simple,and also the way is used for the control system successfully.