工程设计学报2025，Vol.32Issue(1)：32-41,10.DOI:10.3785/j.issn.1006-754X.2025.04.131
基于改进RTAB-Map算法的爬壁机器人导航研究
Research on navigation of wall-climbing robot based on improved RTAB-Map algorithm
摘要
Abstract
Aiming at the difficulty of wall-climbing robot in wall sensing and automated detection of large petrochemical equipment,an improved RTAB-Map(real-time appearance-based mapping)algorithm was proposed to realize the wall-climbing robot's localization,mapping and navigation by fusing multiple sensor data.Firstly,a robot motion chassis with wall adsorption ability was built to ensure the flexible and stable movement of the wall-climbing robot on the wall surface.Secondly,to address the cumulative error of the odometer resulting from the wall-climbing robot's slippage on the wall surface,the extended Kalman filter was utilized to fuse the data of encoder and inertial measurement unit to provide accurate odometer information for mapping and navigation.Thirdly,based on the RTAB-Map algorithm,the data of depth camera,LiDAR and odometer were fused to generate 2D grid and 3D point cloud map to realize a complete description of the equipment wall,and the navigation algorithm framework of the wall-climbing robot was constructed based on the fusion data.Finally,the experimental validation was carried out on the equipment wall.The results showed that the yaw angle error could be significantly reduced by using fusion mileage method,the average error of yaw angle was reduced by 88.94%compared with that under wheel odometer planning with an average error of 0.78°.The improved RTAB-Map algorithm improved the wall-climbing robot's mapping and sensing ability in the wall environment,and realized the autonomous navigation combined with the path planning algorithm.The research results have a certain reference significance for the research and application of automated detection technology of wall-climbing robots.关键词
爬壁机器人/RTAB-Map(基于外观的实时建图)算法/扩展卡尔曼滤波/多传感器融合/导航Key words
wall-climbing robot/RTAB-Map(real-time appearance-based mapping)algorithm/extended Kalman filtering/multi sensor fusion/navigation分类
信息技术与安全科学引用本文复制引用
覃超,唐东林,游东潘,丁超,饶胜,何媛媛..基于改进RTAB-Map算法的爬壁机器人导航研究[J].工程设计学报,2025,32(1):32-41,10.基金项目
国家市场监督管理总局科技计划项目(2022MK115) （2022MK115）
四川省重点研发计划项目(2002ZYZFGY04) （2002ZYZFGY04）
南充市-西南石油大学市校科技战略合作项目(23XNSYSX0048) （23XNSYSX0048）
