Control of inspection robot for the power transmission lines based on database

This paper introduces an obstacle-navigation control strategy for a inspection robot suspended on overhead ground wires(OGWs) of power transmission lines. With the analysis of obstacle-navigation control process, a localization method and database is introduced. When inspection robot surmounts the obstacles, 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 motion can be programmed by the algorithm proposed, and the arm can realizes autonomously to be on OGWs reliably after searching and wheel-line alignment process. This paper presents database with hybrid architecture and analyzes decision-making of obstacle-navigation in layered planning mode. Experiment results show that the control strategy can guide the inspection robot to patrol along the transmission lines and cross obstacles efficiently.