摘要
针对高压输电线路巡检机器人系统具有多种类多数量传感器的特点,介绍一种根据线路环境信息的差异、机器人运行速度的快慢而将检障行为进行分类规划再有机融合的检障与定位方法,并介绍机器人高、中、低速下各检障行为的算法.通过模拟线路的检障与定位实验,表明提出的基于多源传感器行为融合的检障定位方法的正确性和实用性.
There are various type obstacles on the high voltage circuit. Aiming at multi-type and multiple quantity sensors in the control system of robot, several obstacle detection behaviors are classified and planned according to difference of circuit＇s environment information and several speed class of moving robot, and a obstacle detection and locating method fuses the behaviors above rationally. Then, several con trol algorithms of obstacle detection behavior in every speed class are designed respectively. Obstacle de tection＇s experiment on the simulate circuit outside proves validity and practicability of the obstacle deteetion and locating method based behavior fusion.
出处
《武汉大学学报（工学版）》
CAS
CSCD
北大核心
2012年第2期229-234,共6页
Engineering Journal of Wuhan University
基金
国家高技术研究发展计划(863)项目(编号:2006AA04Z202)
关键词
巡检机器人
检障行为
行为融合
多源信息融合
autonomous inspection robot
obstacle detection behavior
behavior fusion
multisensory information fusion
