Abstract
The purpose of inspection robot for power transmission lines is to check running state and find damages of extra-high voltage (EHV) power transmission lines equipment. The key of the control design is how to design a robot for obstacles navigation. This paper presents the robot configuration, and describes obstacle-navigation control principle. Inspection robot for power line is in same operation when across same obstacles, control system learns in laboratory and format knowledge base. The expert system use knowledge to produce the behavior sequences which execute the automatic control for the robot to cross obstacles. The paper presents expert system with hybrid architecture and analyzes decision-making of obstacle-navigation in layered planning mode. On-line experiment results show that the control strategy can guide the inspection robot to patrol along the transmission lines and cross obstacles efficiently.
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© 2011 Springer-Verlag Berlin Heidelberg
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Zhi-bin, R., Sen, L., Yu-tao, L. (2011). Inspection Robot Suspended on Power Transmission Lines Based on Expert System. In: Zeng, D. (eds) Future Intelligent Information Systems. Lecture Notes in Electrical Engineering, vol 86. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-19706-2_45
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DOI: https://doi.org/10.1007/978-3-642-19706-2_45
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-19705-5
Online ISBN: 978-3-642-19706-2
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