输电线路悬垂绝缘子清扫机器人行为规划

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

为了提高悬垂绝缘子清扫机器人局部自主能力,提出了一种基于层次结构和有限状态机的行为规划方法。根据机器人的结构特点、环境特点和清扫作业特点,将机器人的行为分为基本行为和组合行为,给出了描述这些行为的方法,并利用有限状态机管理组合行为中的行为序列。引入了异常处理机制,以保证机器人的可靠运行。仿真和实验验证了行为规划方法的正确性和有效性,该方法可用于绝缘子清扫机器人的清扫作业行为规划。

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.