Research on navigation of substation patrol robot based on guideline visual recognition

Author

Zuo, Min ; Zeng, Guangping ; Tu, Xuyan

Author_Institution

Sch. of Inf. Eng., Univ. of Sci. & Technol. Beijing, Beijing, China

fYear

2010

fDate

26-28 June 2010

Firstpage

6123

Lastpage

6126

Abstract

This paper presents a visual navigation method based on guideline visual recognition for wheeled robot to inspect equipment and instrument in unattended substation. Wheeled robot collects the road information via camera and recognizes the guideline. According the deviation of the guideline´s actual location and intended location use the PID control technology controls the left and right wheel´s speed to control the robot moving direction. The practical application in substation shows that the navigation method is simple and reliable, fully able to meet the navigation requirements of substation patrol robot.

Keywords

mobile robots; motion control; path planning; robot vision; three-term control; visual servoing; wheels; PID control; guideline visual recognition; road information; substation patrol robot navigation; visual navigation; wheel speed; wheeled robot; Cameras; Guidelines; Instruments; Mobile robots; Navigation; Roads; Robot control; Robot vision systems; Substations; Three-term control; PID control; guideline recognition; substation patrol robot; visual navigation; visual recognition;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechanic Automation and Control Engineering (MACE), 2010 International Conference on

Conference_Location

Wuhan

Print_ISBN

978-1-4244-7737-1

Type

conf

DOI

10.1109/MACE.2010.5536652

Filename

5536652