The invention discloses an autonomous
obstacle crossing programming method of a deicing and line inspecting
robot for a high-
voltage transmission line. The method comprises the following steps: step 1, detecting environment information by utilizing a
laser radar mounted at the
tail end of a mechanical arm, so as to obtain a
robot movement ahead obstacle
signal; step 2, according to a difference value between the current position and the expected position of the mechanical arm and the obstacle
signal in the current condition,
programming out a fuzzy programmed angle of the movement ahead mechanical arm by utilizing a fuzzy planner; step 3, performing
online optimization to the fuzzy programmed angle by utilizing the
particle swarm optimization, so as to obtain a particle swarm fuzzy programmed angle of the movement ahead mechanical arm; step 4, obtaining control moments of all joints by utilizing a neural network self-adaptive controller, and guiding the mechanical arm to act. By adopting the fuzzy
programming method, an
obstacle crossing programming decision can be made in real time according to the current condition of the deicing and line inspecting
robot, and the inaccuracy and hysteretic nature of information
perception can be overcome; meanwhile, by adopting the
particle swarm optimization, the fuzzy programmed angle can be optimized online, so that the track can be smoother and the redundancy can be smaller.