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

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.