A Novel Mobile Path Automation Planning System for Cable Channel Informa-tion Detection Robot
The robot plans a collision free optimal path to ensure its safe operation in the cable channel environ-ment,and designs a new type of automatic planning system for the mobile path of the cable channel information de-tection robot.Multi camera and multiple sensors detect the environmental information of cable channels,and use grid method to model the spatial environment of cable channels.The RRT algorithm based on artificial potential field guidance is used to avoid obstacles in the cable channel environment and complete path planning.The experimental results show that the system can enable the information detection robot to move in the cable channel without colli-sion,with high smoothness of the planned movement route,short route length,and fewer nodes.The success rates of obstacle avoidance in static and dynamic obstacle environments reached 97.2%and 90%respectively.
NETL
NSTL
万方数据
维普
