Three-Dimensional Path-Following Control Method for Flying–Walking Power Line Inspection Robot Based on Improved Line of Sight
Tianming Feng,
Jin Lei,
Yujie Zeng
et al.
Abstract:The Flying–Walking Power Line Inspection Robot (FPLIR) faces challenges in maintaining stability and reliability when operating in harsh transmission line environments with complex conditions. The robot often switches modes frequently to land accurately on the line, resulting in increasing following errors and premature or delayed switching caused by reference path switching. To address these issues, a path-following control method based on improved line of sight (LOS) is proposed. The method features an adapt… Show more
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