根据巡检作业任务的要求，采用遥控与局部自主相结合的控制模式实现巡检机器人沿线行走及跨越障碍。
According to the inspection task requirements, a control mode which combines remote-control with local autonomous control is applied for the robot to travel along the wires and navigate obstacles.
所提出数学模型是管道机器人三通自主行走控制策略设计和相应结构设计的理论基础。
The mathematical model is the academic groundwork of autonomous navigation strategy design and relevant structure design of pipeline robot in T-joint.
所提出数学模型是管道机器人弯道自主行走控制策略设计和相应结构设计的理论基础。
The mathematic model is a groundwork of autonomous navigation strategy design and relevant structure design of pipeline robot in elbow.
实验结果表明，该机器人可实现沿线行走及自主跨越障碍，从而验证了控制系统设计的有效性与合理性。
Experiment results show that the robot can travel along the wires and navigate obstacles autonomously, which proves the validity and rationality of the control system design.
实验结果表明，该机器人可实现沿线行走及自主跨越障碍，从而验证了控制系统设计的有效性与合理性。
Experiment results show that the robot can travel along the wires and navigate obstacles autonomously, which proves the validity and rationality of the control system design.
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