Name
Abstract | ||
|---|---|---|
We are developing an autonomous robot for power distribution line maintenance tasks to ensure worker's safety and to improve efficiency. In order to perform autonomously maintenance tasks, it is necessary for the robot to measure the relative position of the robot and the work object. The purpose of this research is to construct 3D models of the work environments such as utility poles, cross arms, insulators, electric wires and transformers in the computer. ICP(Iterative Closest Point) matching is applied to construct the work environments. 3D point cloud of the work environments is measured the LRF(Laser Range Finder) and 3D models of the work objects such as a utility pole, an arm bar and an insulators are superimposed in the 3D point cloud. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/MHS.2014.7006064 | Micro-NanoMechatronics and Human Science |
Keywords | Field | DocType |
control engineering computing,laser ranging,maintenance engineering,mobile robots,power distribution control,power distribution lines,power engineering computing,3D point cloud,3D work environment model,ICP matching,LRF,autonomous robot,cross arms,electric wires,insulators,iterative closest point matching,laser range finder,power distribution line maintenance tasks,transformers,utility poles,work environments construction | Utility pole,Control engineering,Engineering,Autonomous robot,Point cloud,Robot,Insulator (electricity),Iterative closest point | Conference |
ISSN | Citations | PageRank |
2474-378X | 0 | 0.34 |
References | Authors | |
2 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Emoto, K. | 1 | 0 | 0.34 |
| Yasunori Suzuki | 2 | 2 | 4.37 |
| Kato, R. | 3 | 5 | 1.08 |
| Tanaka, R. | 4 | 1 | 1.50 |