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Development and Control of an Autonomously Obstacle-Navigation Inspection Robot for Extra-High Voltage Power Transmission Lines

This paper presents a mobile robot suspended on power transmission lines based on a novel movement mechanism with two manipulators and a body. After the inspection robot configuration is described, the kinematics of the inspection robot and the process of obstacle-navigation are analyzed in details. In order to achieve autonomously control the task-oriented integrated control architecture is adopted, and the architecture is a multi-agent system coordinate and organized by distribute blackboard. To achieve auto obstacle-navigation control, camera-in-hand system is adopted to realize power transmission line pose locating. With the power line locating algorithm, a dynamic position based look-and-move control structure is implemented to achieve line-grasping control. Experiments result shows that the robot can realize auto obstacle-navigation control and proves the valid of the control method