摘要
针对变电站稀疏环境下智能巡检机器人易丢失定位并迷路的问题,提出了一种基于里程计的巡检机器人定位恢复方法。该方法采用行走回溯法来解决定位丢失的问题。系统在确定定位丢失后,触发定位恢复流程,使机器人逐步回退到里程计中记录的位置点,在回退过程中利用周期纠正流程对机器人进行速度控制,提高定位恢复的几率。实验结果显示,该方法能顺利完成定位恢复,保障机器人的续航能力,并具有较好的鲁棒性。
Aiming at the initial localization of inspection robot,it proposes a location recovery method based on milemeter.It uses walking backtracking to define the lost position,triggers the location recovery process,realizes the robot gradually return to the location recorded point in the milemeter and control the speed of the robot.This cycle correction process in the process of retreating improves the probability of location recovery.The experiment results show that this method can successfully complete the location recovery,guarantee the cruising ability and have good robustness.
作者
林欢
Lin Huan(Yijiahe Technology Co.,Ltd.,Jiangsu Nanjing,210012,China)
出处
《机械设计与制造工程》
2018年第7期50-54,共5页
Machine Design and Manufacturing Engineering
基金
南京市高端人才团队引进计划(10085048)
关键词
里程计
巡检机器人
定位丢失
定位恢复
milemeter
inspection robot
lost positioning
location recovery