Abstract
AbstractThe biggest challenge for robotic automation in the field is unexpected events caused by uncertainties in an unstructured environment. In classical task planning, the planning and execution of tasks are separated, which makes it difficult to deal with unexpected events in the execution process. However, robots must be able to handle unexpected events to ensure the smooth execution of tasks in complex dynamic environments. This paper introduces a method for dynamic task planning using behavior trees, which is used for robots to perform live-line maintenance operations on overhead lines in distribution networks. This method realizes the dynamic planning of tasks and the handling of unexpected events by structuring the task behavior tree. Experiments and field operations show that the method can realize complex field operations and have unexpected handling capabilities.KeywordsLive-line maintenance robotBehavior treeAutonomous
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