Automatic Obstacle-Crossing Planning for a Transmission Line Inspection Robot Based on Multisensor Fusion
نویسندگان
چکیده
Accurate obstacle detection and proper behavior planning are key factors in the success of transmission line inspection robots. To achieve autonomous location identification obstacles operation robots, we propose a method which information from various sensors is used to control robot such that it can reliably stably approach, locate, identify obstacles. The accuracy real-time requirements analyzed, multi-sensor integrated structure for proposed, an algorithm designed each stage. principle monocular vision ranging approaches enters short-range stage, where reliable achieved via collision-encoder-current sensor data fusion. Obstacles identified results combined with those approaching rolling phase. state vector constructed according measured by sensors. Based on current vector, surmounting process, based fusion implemented. Experiments were conducted using laboratory-simulated lines verify effectiveness proposed during inspection.
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ژورنال
عنوان ژورنال: IEEE Access
سال: 2022
ISSN: ['2169-3536']
DOI: https://doi.org/10.1109/access.2022.3183125