Research on autonomous negotiation action planning for 110kV power transmission line inspection robot

The configuration characteristics and control system composition of inspection robot are firstly introduced. Then the planning method and the control process of crossing obstacles are discussed aiming at crossing obstacles automatically. Namely, with the method of hierarchical planning, the on-line planning is done from the behavior level using production system reasoning. The action sequence will be produced combining the generated behavior command with the behavior interpretation knowledgebase. Experiments have proved the method to be feasible.