Transmission Line Maintenance Robots Capable of Crossing Obstacles: State-of-the-Art Review and Challenges Ahead

被引：123
作者：
Toussaint, Kristopher [1 ]
Pouliot, Nicolas [2 ]
Montambault, Serge [2 ]
机构：
[1] McGill Univ, Dept Mech Engn, Montreal, PQ H3A 2K6, Canada
[2] Robot & Civil Engn Hydro Quebec IREQ, Varennes, PQ J3X 1S1, Canada
来源：
JOURNAL OF FIELD ROBOTICS | 2009年 / 26卷 / 05期
关键词：
MOBILE ROBOT; CRAWLING ROBOT; INSPECTION; CLASSIFICATION;
D O I：
10.1002/rob.20295
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
Power line inspection and maintenance already benefit from developments in mobile robotics. This paper presents a comprehensive review of the state of the art. It focuses on mobile robots designed to cross obstacles found on a typical transmission line while using the conductor as support for traveling. Promising areas of research and development as well as challenges that remain to be solved are discussed with a view to developing fully autonomous technologies. Maintenance tasks, including inspection and repairs, are identified as high-value applications in transmission live-line work. Conclusions are drawn from experience, and the future of mobile robotics applied to transmission line maintenance is discussed. (C) 2009 Wiley Periodicals, Inc.
引用
收藏
页码：477 / 499
页数：23
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