Abstract
An intelligent obstacle recognition method based on improved particle swarm optimization wavelet neural network (IPSO-WNN) for deicing robot on voltage transmission line is presented because traditional obstacle recognition methods often have errors due to structural constraints. Firstly, the improved PSO algorithm is proposed by introduce idea of probabilistic leap in simulated annealing. Secondly , the improved algorithm is used to optimize the parameters of the wavelet network. Finally, the trained IPSO-WNN is used to recognize and classify the wavelet moments of the obstacle edged images of robot. Experimental results show that compared with PSO-WNN this method have quicker convergence rate and higher classification precision and improve obviously recognition function of obstacle on transmission line.
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