Research on Navigation of Substation Patrol Robot Based on Guideline Visual Recognition

Author

Zuo, Min ; Zeng, Guangping ; Tu, Xuyan

Author_Institution

Sch. of Inf. Eng., Univ. of Sci. & Technol. Beijing, Beijing, China

fYear

2010

fDate

25-27 June 2010

Firstpage

4751

Lastpage

4754

Abstract

This paper presents a visual navigation method based on guideline visual recognition for wheeled robot to inspect equipment and instrument in unattended substation. Wheeled robot collects the road information via camera and recognizes the guideline. According the deviation of the guideline´s actual location and intended location use the PID control technology controls the left and right wheel´s speed to control the robot moving direction. The practical application in substation shows that the navigation method is simple and reliable, fully able to meet the navigation requirements of substation patrol robot.

Keywords

image sensors; mobile robots; object recognition; path planning; robot vision; substations; three-term control; velocity control; PID control technology; guideline visual recognition; road information; substation patrol robot navigation; visual navigation method; wheeled robot; Artificial neural networks; Guidelines; Mobile robots; Navigation; Substations; Visualization; PID control; guideline recognition; substation patrol robot; visual navigation; visual recognition;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical and Control Engineering (ICECE), 2010 International Conference on

Conference_Location

Wuhan

Print_ISBN

978-1-4244-6880-5

Type

conf

DOI

10.1109/iCECE.2010.1150

Filename

5631648