Dynamic Modelling and Obstacle Avoidance for Cable Maneuvering Robot

Power transmission involves the crucial part power supply over a country. Continues assessment and inspection can effectively promote the overall productivity of these energy systems. Deployment of mobile robots can provide an effective solution to this problem. In this paper inspection tasks performed by the robot carrying detection instruments and rolling/crawling along the overhead ground wires are considered. There are different uncertainties involved with the inertial aspects of transmission line and the robot, achieving an accurate mathematical model of the system is difficult, which in turn increases the complexity over control. But coupling the dynamic aspects between the robot and its moving path can give better control over motion precision. This paper involves the dynamic modelling of cable maneuvering robot enabling traction control and centroid compensation. The scope of these analysis will help in understanding the system’s stability and achieving its control effectively. Path planning and obstacle avoidance schemes are developed based on the former results. Index Terms Mobile Robot, Dynamic Control, Path planning, Obstacle Avoidance ________________________________________________________________________________________________________