吉林大学学报(工学版) ›› 2018, Vol. 48 ›› Issue (2): 518-525.doi: 10.13229/j.cnki.jdxbgxb20161286

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Behavior planning of a suspension insulator cleaning robot for power transmission lines

WANG Lin1, 2, 3, WANG Hong-guang1, SONG Yi-feng1, PAN Xin-an1, ZHANG Hong-zhi4   

  1. 1.State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;
    2.University of Chinese Academy of Sciences,Beijing 100049,China;
    3.College of Mechanical Engineering,Chang shu Institute of Technology, Changshu 215500,China;
    4.Jinzhou Extra-High Voltage Bureau,Jinzhou 121001,China
  • Received:2016-11-28 Online:2018-03-01 Published:2018-03-01

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Abstract: To improve the autonomy of suspension insulator cleaning robot, a behavior planning method based on hierarchical structure and finite state machine is proposed. According to the structural features of the robot, the environmental characteristics and the cleaning task, the behaviors of the robot are classified into behaviors and combinational behaviors. The methods to describe these behaviors are presented and the finite state machine is used to manage the sequences of the combinational behaviors. The exceptional handling mechanism is introduced to ensure the reliable operation of the robot. Simulation and laboratory experimental results verify the correctness and effectiveness of the proposed method, which can be applied for behavior planning of the robot to perform suspension insulator cleaning task.

Key words: automatic control technology, behavior planning, finite state machine, insulator cleaning robot, power transmission lines

CLC Number: 

  • TP242
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