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Behavior Tree Based Dynamic Task Planning Method for Robotic Live-Line Maintenance

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Intelligent Robotics and Applications (ICIRA 2022)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13457))

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Abstract

The 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.

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Author information

Authors and Affiliations

  1. Shanghai Jiao Tong University, 800 Dongchuan Road, Shanghai, China

    Feng Jiabo, Liu Lei & Zhang Weijun

  2. Qujing Power Supply Bureau of Yunnan Power Grid Co., Ltd., Yunnan, China

    Shi Lirong

Authors
  1. Feng Jiabo
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  2. Shi Lirong
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  3. Liu Lei
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  4. Zhang Weijun
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Corresponding author

Correspondence to Zhang Weijun .

Editor information

Editors and Affiliations

  1. Harbin Institute of Technology, Harbin, China

    Honghai Liu

  2. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  3. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  4. Harbin Institute of Technology, Harbin, China

    Li Jiang

  5. Shanghai Jiao Tong University, Shanghai, China

    Guoying Gu

  6. Shenzhen Institutes of Advanced Technology, Shenzhen, China

    Xinyu Wu

  7. Harbin Institute of Technology, Harbin, China

    Weihong Ren

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Jiabo, F., Lirong, S., Lei, L., Weijun, Z. (2022). Behavior Tree Based Dynamic Task Planning Method for Robotic Live-Line Maintenance. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13457. Springer, Cham. https://doi.org/10.1007/978-3-031-13835-5_61

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  • DOI: https://doi.org/10.1007/978-3-031-13835-5_61

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-13834-8

  • Online ISBN: 978-3-031-13835-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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