海上石油生产平台巡检机器人定位方法综述

为了满足海上石油生产平台巡检机器人精准定位的需求,提出了一种基于卡尔曼滤波算法的定位方法。巡检机器人事先将平台上固定的墙面和组块棱角信息进行存储,配合自身安装的里程计获得大概的位置信息。通过激光雷达进行测算,预测出当前所在位姿状态。将预测位姿与实际观测位姿进行匹配和修正的定位算法。采集数据采用MATLAB软件仿真验证该方法的可行性。

A positioning method based on Caiman filtering algorithm is proposed in this paper.The inspection robot stores the fixed wall surface and block edge information on the platform in advance,and obtains the approximate location information with the odometer installed by itself.The position of the current position is predicted by the ultrasonic sensor.A positioning algorithm for matching and correcting the predicted pose with the actual observer position.