Fuzzy-based trajectory planning for de-icing robot on high voltage transmission lines

This paper proposes a novel trajectory planner for de-icing robot on high voltage transmission line. The planner is based on fuzzy technique to achieve obstacle avoidance. Unlike the structured environment, high voltage transmission line has many electrical equipments, which have different characteristics and various installation way. Thus, de-icing robot has diversity of obstacle crossing problems. To handle this problem, fuzzy technique is introduced for online obstacle avoidance and path planning. In this application, working modes of de-icing robot are classified as safe mode, first obstacle mode and second obstacle mode to deal with different kinds of obstacles. Finally, successful trajectory planning and obstacle crossing in simulation verify the effectiveness of the fuzzy-based trajectory planning approach.