Research on obstacle-navigation control of a mobile robot for inspection of the power transmission lines based on expert system

This paper presents an obstacle-navigation control strategy for a mobile robot suspended on overhead ground wires of 50OKv extra-high voltage (EHV) power transmission lines, based on a novel movement mechanism. The control system of the mobile robot is based on a hybrid architecture expert system, which is mainly composed of a knowledge base and inference engine and can be applied to obstacle-navigation autonomously. In the control system, environment state data and fuzzified obstacle-data are input to the expert system so that the process of obstacle-navigation can be generated. Hence, joints variables can be calculated by solving the robot kinematics equations. According to the obstacle-navigation process and the calculated joints variables, the controller drives the motor rotations and the robot can overcome the obstacles