摘要
针对电缆隧道的检测研制了一套电缆隧道综合检测机器人系统,该系统能够在隧道内,通过遥操作或者自主的方式自由行走,能够爬越一定高度障碍物,同时能够检测隧道内的工况,包括图像信息、气体信息等,并通过无线通信传输到地面供操作人员查看.同时还提出了基于行为的全自主行走控制策略与方法,包括机器人避障行为,逃离行为,以及机器人自主越障行为等,实验证明该机器人系统能够很好地完成任务.
Against the cable tunnel detection, we developed a cable tunnel comprehensive detection robot system, which can move along tunnel through tele - operation or autonomous manner while detecting the conditions inside the tunnel ,including image information, gas information, and so on. These information can be transmitted to the ground through wireless communications. In this paper, behavior-based control strategy was presented. The experiment in field proved that this approach was effective.
出处
《机械与电子》
2008年第4期47-51,共5页
Machinery & Electronics
关键词
行为控制
避障
自主行走
机器人
behavior - based control
obstacle avoidance
autonomous
robot
