Navigation and control for a novel ground line inspection robot

An autonomous inspection robot system for ground line is presented in this paper. First, it introduces the inspection robot system and the ground line constructions without obstacles. Then it brings out a navigation and control method based on TLdatabase and multi-sensor fusion. The database is built according to the known line construction parameters. The inspection robot can locate itself and recognize obstacles according to the database and the information from sensors to achieve the navigation mission. Finally the system design was proved valid and the navigation method effective and practical through experiments.