兵工自动化2024，Vol.43Issue(5)：90-96,7.DOI:10.7690/bgzdh.2024.05.019
室内巡检机器人的定位方法
Positioning Method of Indoor Inspection Robot
陈斌 1陶卫军1
作者信息
- 1. 南京理工大学机械工程学院,南京 210094
- 折叠
摘要
Abstract
Aiming at the problem that the inspection robot can not accurately reach the designated location when it carries out inspection tasks in indoor environment,a regional localization method based on laser radar and odometer is proposed.When the robot works in the non-target area where the positioning accuracy requirement is not high,the positioning algorithm of laser radar and odometer is used for navigation;When the robot enters the target area including the specified position,the current pose of the robot is calculated by using the laser ranging sensor carried on the robot and the landmark of the known position,and the pose is corrected according to the current error of the robot to realize the precise positioning of the robot at the target position.The experimental results show that the position error is less than 2 cm and the deflection angle error is less than 1°,which meets the positioning accuracy requirements of the inspection robot and has feasibility and practical value.关键词
巡检机器人/激光雷达/里程计/地标/局域定位Key words
inspection robot/laser radar/odometer/landmark/local location分类
信息技术与安全科学引用本文复制引用
陈斌,陶卫军..室内巡检机器人的定位方法[J].兵工自动化,2024,43(5):90-96,7.
