| 电缆隧道巡检机器人定位建图系统研究与实现 |
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| 引用本文： | 陈析,孙磊,孙丙宇.电缆隧道巡检机器人定位建图系统研究与实现[J].自动化与仪表,2020(4):25-29. |
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| 作者姓名： | 陈析 孙磊 孙丙宇 |
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| 作者单位： | 中国科学院合肥智能机械研究所;中国科学技术大学信息科学技术学院;中国科学院合肥技术创新工程院 |
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| 摘 要： | 电缆隧道空间小、环境复杂,因老化及腐蚀易发生火灾,巡检机器人可以通过日常巡检提早发现隐患,但电缆隧道环境存在定位难度大、地图信息缺失的问题。针对以上问题,该文提出了电缆隧道环境下使用IMU、车轮里程计、激光雷达多传感器数据融合的定位建图方法,并设计了该方法的电缆隧道定位建图系统。为了验证定位建图系统的有效性,该文使用该系统进行实验测试,定位、建图能力均可满足巡检要求。
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| 关 键 词： | 同步定位与地图构建 粒子滤波 拓展卡尔曼滤波器 电缆隧道 |
Research and Implementation of Localization and Mapping System of Cable Tunnel Inspection Robot |
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| CHEN Xi,SUN Lei,SUN Bing-yu.Research and Implementation of Localization and Mapping System of Cable Tunnel Inspection Robot[J].Automation and Instrumentation,2020(4):25-29. |
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| Authors: | CHEN Xi SUN Lei SUN Bing-yu |
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| Affiliation: | (Hefei Institute of Intelligent Machines,Chinese Academy of Science,Hefei 230031,China;School of Information Science and Technology,University of Science and Technology of China,Hefei 230026,China;Hefei Institute of Technology and Innovation,Chinese Academy of Science,Hefei 230031,China) |
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| Abstract: | The cable tunnel is small in space and complex in environment,which is prone to fire due to aging and corrosion. The inspection robot can find hidden dangers in advance through daily inspection,but the cable tunnel environment is difficult to localize and lack of map information. The paper puts forward a method of localization and mapping using multi-sensor data fusion from IMU,wheel odometer and lidar in cable tunnel environment and designs a localization and mapping system of this method. In order to verify the effectiveness of localization and mapping system,the experiments are carried out to test the system. The results show that the capabilities of localization and mapping can meet the inspection requirements. |
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| Keywords: | simultaneous localization and mapping(SLAM) particle filtering extended Kalman filter(EKF) cable tunne |
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