Title :
Research on the path planning of wire pole inspection robot
Author :
Chao Cui ; Jizhen Liu ; Tao Liu ; Taihua Chang
Author_Institution :
State Key Lab. for Alternate Electr. Power Syst. with Renewable Energy Sources, North China Electr. Power Univ., Beijing, China
Abstract :
Flying robot inspection is an effective way for power-line inspection purpose. In this paper, a four-rotor FROPI (Flying Robot for Overhead Power-line Inspection) is taken as an example to research the path planning of wire pole inspection. The kinetic model of FROPI is built, and a kind of inner and outer control algorithm based on classic PID control is put forward, which can be used to control the flying position and rotation angle respectively. In path planning of inspection, this paper proposed a global optimal path planning method based on Genetic Algorithm. Finally, a simulation of FROPI for 8 points inspection indicates that the control algorithm can meet the control requirements, which means the flying robot can implement inspection along an optimal path under automatic control.
Keywords :
aerospace robotics; genetic algorithms; inspection; path planning; poles and towers; position control; power overhead lines; robot kinematics; rotors (mechanical); three-term control; classic PID control; flying position control; flying robot for overhead power-line inspection; flying robot inspection; four-rotor FROPI simulation; genetic algorithm; global optimal path planning method; inner control algorithm; kinetic model; outer control algorithm; rotation angle control; wire pole inspection robot; Inspection; Robots; Wires; Four-rotor FROPI; Genetic Algorithm; Global optimal path planning; PID control; Power line;
Conference_Titel :
Control and Decision Conference (CCDC), 2015 27th Chinese
Conference_Location :
Qingdao
Print_ISBN :
978-1-4799-7016-2
DOI :
10.1109/CCDC.2015.7162754
