Obstacle Crossing Control of Insulator Detection Robot Based on Finite State Machine
In order to improve the obstacle surmounting control effect of the robot,the obstacle sur-mounting control method of insulator detection robot based on finite state machine is proposed.Firstly,the specific structure of the robot is analyzed,and the dynamic equations of the robot control system are ob-tained based on the analysis results.Combined with the finite state machine theory,the state sets of various parameters when the robot surmounts obstacles are established,the posture sequence of the robot sur-mounts obstacles is obtained,and the control model of the robot surmounts obstacles is established.Then,according to the established obstacle crossing control objective function,combined with the B-spline curve tracking method,the model is solved to obtain the best obstacle crossing path planning result of the model,so as to achieve the obstacle crossing control of the insulator detection robot.The experimental results show that the control performance of this method is high and the control effect is good.
finite state machine theoryinsulator detection robotobstacle crossing controldynamic a-nalysisobstacle surmounting control model
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